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

Abstract:

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.

• Periodical: Applied Mechanics and Materials (Volumes 101-102)
• Pages: 685-688
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.101-102.685
• Online since: September 2011
• Authors: Meng Guan, Yi Min Song, Tao Sun, Gang Dong
• Keywords: Kinematic Analysis, Parallel Manipulator, Screw Theory, Singularity Analysis

References

[1] J. Angeles: ASME J. Mech. Des. Vol.126(2004),pp.617-624.

[2] Z. Huang and Q.C. Li: Int. J. Robot. Res. Vol.22(2003),pp.59-79.

[3] X. Mo, W.J. Chen and S.Y. Chen: Journal of Yangzhou University. Vol.11(2008),pp.40-44.

[4] F. Pierrot, V. Nabat and O. Company: IEEE Trans. Robot. Vol.25(2009),pp.213-224.

[5] Y.M. Li and Q.S. Xu: J. Mech. Des. Vol.128(2006),pp.729-737.