Analysis of kinematic and singular configurations of an asymmetrical parallel mechanism |
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Authors: | CHENG Gang GE Shi-rong |
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Affiliation: | Institute of Reliability and Rescue Robotics, China University of Mining & Technology, Xuzhou, Jiangsu 221008, China |
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Abstract: | The forward kinematics and singularity configuration of an asymmetrical parallel mechanism with three translational degrees of freedom were analyzed. By establishing the position equations of the mechanism and obtaining the forward solutions, a better decoupling of the mechanism was proved. Based on the Jacobi velocity transfer matrix, the possible singularity configura-tions were studied and the methods avoiding these configurations discussed. Although improving the rigidity, the 4R structures in the mechanism also resulted in new singularity configurations. By analysis of a feasible instance, this kind of parallel mechanism can avoid all singularity configurations. Meanwhile, it was proved that the design of structure parameters and the choice of inputs range are important for rigidity and stability of parallel mechanisms. |
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Keywords: | parallel mechanism forward kinematics singular configuration Jacobi matrix |
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