A Study of the Instantaneous Kinematics of the 5-RSP Parallel Mechanism Using Screw Theory
This paper presents a detailed study of the instantaneous kinematics of the 5-RSP parallel mechanism with centralized motion. The study uses screw theory to investigate the mobility and the singular configurations of the mechanism. The constraint-screw set of the platform is obtained from an analysis of the motion-screw sets comprised by each kinematic chain. The analysis shows that the platform has a screw motion, that is, a one degreeof-freedom motion consisting of a rotation and a translation about an invariant axis. The motion-screw sets are also used to obtain the Jacobian matrix of the mechanism which provides closed-form solutions for the inverse and forward instantaneous kinematic problems. This matrix also provides insight into the singular configurations by investigating the constraint-screws and the motion-screws of the platform in these configurations. Finally, two numerical examples and a motion simulation of the mechanism are presented to illustrate the significance of the analytical results.
Parallel mechanisms Screw theory Mobility analysis Jacobian matrix Singularity analysis
Ernesto Rodriguez-Leal Jian S. Dai Gordon R. Pennock
Tecnologico de Monterrey, 2501, Garza Sada, Mexico Kings College London, Strand, London, WC2R2LS, UK Purdue University, West Lafayette, IN 47907, USA
国际会议
天津
英文
355-369
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）