Jacobian and Singularity Analysis of Three Parallel Manipulators with the Schoenflies Motion
This paper presents an analysis of theJacobian matrix and singularity of three 4-Degree-of-Freedom (DoF) parallel manipulators with Schoenfliesmotion.Each parallel manipulator possesses two limbsin architecture and an end-effector having threetranslational motions and one rotational motion about agiven axis in the world coordinate system. They can bepotentially used for fast pick-and-place application inindustry. Jacobian analysis is formulated in detail basedon the derived results of the basic kinematic equationsand their differentiations. Two types of singularity,inverse and direct singularity are studied. In singularityanalysis, we not only derive the conditional equationsthat will cause singularity explicitly, but also enumerateseveral typical singular configurations for four novel 4-DoF parallel manipulators. Lastly, some conclusions toavoid the singularity are provided in the paper.
Jacobian matrix Singularity Schoenflies motion Parallel manipulator Inverse singularity direct singularity
Po-Chih Lee Jyh-Jone Lee
Department of Mechanical Engineering National Taiwan University,Taiwan
国际会议
上海
英文
1-8
2011-10-14（万方平台首次上网日期，不代表论文的发表时间）