Kinematic and Singularity Analysis of a Novel 4-DOF Parallel Manipulator

Abstract:

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This paper presents a novel 4-DOF (Degree of Freedom) parallel manipulator called 2-PSS&(2-PRR)R manipulator. Firstly, the architecture of this manipulator is described and the mobility is analyzed via screw theory. Secondly, the inverse kinematic analysis including position analysis and velocity analysis is performed. Finally, the Jacobian matrix is obtained through velocity analysis, and then three kinds of singularity configurations are observed in virtue of the Jacobian matrix. This paper lays the foundation for further research of this manipulator.

Info:

Periodical:

Edited by:

Di Zheng, Yiqiang Wang, Yi-Min Deng, Aibing Yu and Weihua Li

Pages:

685-688

DOI:

10.4028/www.scientific.net/AMM.101-102.685

Citation:

M. Guan et al., "Kinematic and Singularity Analysis of a Novel 4-DOF Parallel Manipulator", Applied Mechanics and Materials, Vols. 101-102, pp. 685-688, 2012

Online since:

September 2011

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$35.00

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