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STUDY OF REGULARITY OF GENERAL-liNEAR-COMPLEX SINGULARITY OF 3/6-STEWART MECHANISM

Chinese Journal of Mechanical Engineering 2003年第3期16卷 325-328页

作者： li yanwen huang zhenrobotics research center,yanshan university,qinhuangdao 066004, china Robotics research center Yanshan University Qinhuangdao 066004

The general-linear-complex singularity of Stewart mechanism is a veryimportant problem in the parallel manipulator. Its general regularity is not found yet during thepast two decades. St-Onge and Gosselin pointed Out that the singularity locus of the Stewartmechanism at some given orientations of the moving platform should be polynomial expressions withvaried degrees in 2000, but they didn't formulate the expression. Based on the kinematicssingularity principle and the geometry condition proposed by huang Zhen in 1999, firstly thesingularity equation in degree two is derived. It is a hyperbola when the orientation of the movingplatform is given. This result is also proved using screw theory. Then some singularity surfaces aregotten in three-dimensional space. This result is of important significance.

关键词： Stewart mechanism General-linear-complex Singular configuration

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METH0D USED IN SINGULARITY research BASED 0N KINEMATICS AND ITS EXAMPLE IN APPliCATION

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Chinese Journal of Mechanical Engineering 2004年第2期17卷 161-165页

作者： li yanwen huang Zhen Robotics research center,yanshan university,qinhuangdao 066004, china Robotics research center Yanshan University Qinhuangdao 066004

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.

关键词： Parallel manipulator 3-RPS Kinematic method Singularity

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Mobility Analysis of Altmann Overconstrained linkages by Modified Grübler-Kutzbach Criterion

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 638-646页

作者： liU Jingfang li yanwen huang Zhen College of Mechanical Engineering andApplied Electronics Technology Beijing University of Technology Beijing 100124 China Robotics research center Yanshan University Qinhuangdao 066004 China

Developing a general mobility method/formula is a hot topic lasting for more than 150 years in kinematics. It is necessary to apply any mobility method to puzzling overconstrained mechanisms for verification of its generality. Altmann linkages are such recognized puzzling mechanisms that their mobility analysis is of important significance. A necessary condition for judging a general mobility method is that the method can be fit for Altmann linkages. Firstly, this study classes Altmann linkages into 17 types in terms of the numbers and types of kinematic pairs, and then Altmann overconstrained linkages are further classified into 4 types. Secondly, the mobility of Altmann overconstrained linkages is systematically analyzed by the Modified Grübler-Kutzbach criterion based on screw theory, where passive freedoms are defined as limb passive freedoms and mechanism passive freedoms. In addition, the full-cycle mobility is judged, which overcomes the shortcoming of instantaneous property of screw theory. It is shown that Modified Grübler-Kutzbach criterion not only obtains the correct numerical mobility, but also gives the mobility character by resolving reciprocal screws for the constraint system. This study lays the foundation of verification for the generality of Modified Grübler-Kutzbach criterion. Besides, Altmann overconstrained linkages almost comprise all kinds of modern parallel mechanisms and some classical mechanisms, which provides an important reference for mechanism mobility calculation.

关键词： mobility analysis overconstrained linkage screw theory

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