Singularity Analysis of a 3-RPS Parallel Manipulator Using Geometric Algebra

作     者：LI Qinchuan XIANG Ji'nan CHAI Xinxue WU Chuanyu 

作者机构：Mechatronic Institute Zhejiang Sci-Tech University 

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

年 卷 期：2015年第28卷第6期

页      面：1204-1212页

核心收录：

学科分类：0817[工学-化学工程与技术] 080202[工学-机械电子工程] 08[工学] 0807[工学-动力工程及工程热物理] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 

基　　金：Supported by National Natural Science Foundation of China(Grant No.51135008) Zhejiang Provincial Natural Science Foundation of China(Grant No.LZ14E050005) 

主　　题：singularity parallel manipulator geometric algebra 

摘      要：Singular configurations must be avoided in path planning and control of a parallel manipulator. However, most studies rarely focus on an overall singularity loci distribution of lower-mobility parallel mechanisms. Geometric algebra is employed in analysis of singularity of a 3-RPS parallel manipulator. Twist and wrench in screw theory are represented in geometric algebra. Linear dependency of twists and wrenches are described by outer product in geometric algebra. Reciprocity between twists and constraint wrenches are reflected by duality. To compute the positions of the three spherical joints of the 3-RPS parallel manipulator, Tilt-and-Torsion angles are used to describe the orientation of the moving platform. The outer product of twists and constraint wrenches is used as an index for closeness to singularity（ICS） of the 3-RPS parallel manipulator. An overall and thorough perspective of the singularity loci distribution of the 3-RPS parallel manipulator is disclosed, which is helpful to design, trajectory planning and control of this kind of parallel manipulator.