METH0D USED IN SINGULARITY RESEARCH BASED 0N KINEMATICS AND ITS EXAMPLE IN APPLICATION

作     者：Li Yanwen Huang Zhen Robotics Research Center,Yanshan University,Qinhuangdao 066004, China 

作者机构：Robotics Research CenterYanshan University Qinhuangdao 066004 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2004年第17卷第2期

页      面：161-165页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

基　　金：This project is supported by National Natural Science Foundation of China (No.50275129) 

主　　题：Parallel manipulator 3-RPS Kinematic method Singularity 

摘      要：First the kinematic principle of singularity is proved, that is theintersecting point of three normal planes of three velocities at three non-collinear points in arigid body lying in the plane determined by the three corresponding points. It is a sufficient andnecessary condition that the velocities of three non-collinear points in a rigid body can determinea screw motion of the body. Based on this principle, a simple and direct new method to distinguishthe singularity of the parallel manipulator is derived. With this new kinematic method, the 3-RPSparallel manipulator is studied. Its singularity loci are obtained for some orientations for thefirst time and verified with Grassmann line geometry and screw theory and the force Jacobian matrix.