Singularity Analysis and Dexterity Performance on a Novel Parallel Mechanism with Kinematic Redundancy
This paper presents a novel spatial parallel mechanism configuration with kinematic redundancy.Evolution of the proposed mechanism is introduced and kinematic modeling is established.Base on the virtual plane formed by the input five-bar linkage,singularity analyses on actuation units and the virtual parallel mechanism are respectively presented.Some of the singularity configurations of each type are discussed and illustrated.The orientational workspace is obtained by the regions of orientational angles with varied platform position.It is shown that the orientational workspace of the redundant mechanism is significantly larger.The Jacobian matrices are then developed by constraint equation derivations.Evaluation of condition number shows that the proposed mechanism clearly stays away from singularities with the large-range of rotational angles.A trajectory example is shown,which proves the proposed mechanism can produce a large range of rotation angles without meeting with singularities.
parallel mechanism kinematic redundancy kinematics modeling singularity performance analyses
Fuqun Zhao Sheng Guo Chengyu Zhang Haibo Qu
School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,PR China
国内会议
北京
英文
200-217
2018-08-02（万方平台首次上网日期，不代表论文的发表时间）