The Analysis on the Singularity of a 3-UPS Parallel Machine Tool
This paper takes a 3-UPS Parallel Machine Tool (PMT) as the object to study, and it mainly analyzed the singularity of machine in the workspace. Firstly the kinematics of this machine is analyzed on the basis of introducing the structure of PMT, the kinematics equation of PMT is established, and further the Jacobian matrix of PMT is obtained. Then the workspace of PMT is carried on the solution and the analysis. Finally the degree of operability is taken as the measure index to analyze the singularity of PMT within the workspace, and the results show that this PMT does not have singular position. The analysis results of this paper have laid the theoretical foundation for the position control of this PMT.
Parallel Machine Tool (PMT) kinematics workspace singularity degree of operability
Jianye Guo Yanli Zhang Jiashun Shi
School of Mechanical and Electrical Engineering Shenyang Aerospace University Shenyang, China 110 School of Mechanical Engineering and Automation Northeastern University Shenyang, China 110004
国际会议
哈尔滨
英文
674-677
2011-08-12（万方平台首次上网日期，不代表论文的发表时间）