Kinematics and Singularity Analyses of a 2-RPU&SPR Parallel Manipulator

Jian Hui Fan; Bin Li; Xin Hua Zhao

doi:10.4028/www.scientific.net/AMM.441.568

Paper Titles

Design of a Rack and Pinion Drilling Rig Similar Prototype
p.548

Radiation Disturbance of Variable Frequency Winch Drive System in Underground Coal Mines
p.552

The Structure Design and Parametric Study of Dynamic and Static Grinding Head
p.557

Tooth Profile Generation of Point-Contact Involute Planetary Gear Drive with Small Teeth Difference
p.561

Kinematics and Singularity Analyses of a 2-RPU&SPR Parallel Manipulator
p.568

The Security Design of Child Seat of Electric Bicycle
p.572

Study on Thermal Deformation of Machine Tool under Different Environment Temperature
p.576

Optimization of Vehicle Powertrain Mounting System and its Performance
p.580

Design and Development of a Evaporative Cooling System for Desktop Computers
p.584

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 441Kinematics and Singularity Analyses of a 2-RPU&SPR...

Kinematics and Singularity Analyses of a 2-RPU&SPR Parallel Manipulator

Abstract:

In this paper, kinematics and singularity of a 2-RPU&SPR parallel mechanism are analyzed by algebraic method. Firstly, the inverse kinematics of the parallel mechanism is derived. Secondly, the Jacobian matrix of the parallel mechanism is obtained and the singularity of the mechanism is analyzed. Finally, the correctness of singularity analysis of the mechanism is verified by numerical simulations.

You might also be interested in these eBooks

Machinery Electronics and Control Engineering III

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 441)

Pages:

568-571

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.441.568

Citation:

Cite this paper

Online since:

December 2013

Authors:

Jian Hui Fan, Bin Li, Xin Hua Zhao

Keywords:

Jacobian Matrix, Kinematics, Parallel Manipulator, Singularity

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Z. Huang, L.F. Kong, Y.F. Fang, Theory on Parallel Robotics and Control, Machinery Industry, Beijing, China, (1998).

Google Scholar

[2] S.A. Joshi, L.W. Tsai, Jacobian analysis of Limited-DOF Parallel Manipulators, ASME J. Mech. Des. 124 (2002) 254-258.

DOI: 10.1115/1.1469549

Google Scholar

[3] J. Gallardo-Alvarado, Kinematics of a hybrid manipulator by means of screw theory, Multibody Syst. Dyn. 14 (2005) 345-366.

DOI: 10.1007/s11044-005-4196-x

Google Scholar

[4] Y. Lu, B. Hu, J.D. Han, J.P. Yu, Kinematics analysis of some linear legs with different structure for limited-DOF parallel manipulators, ASME J. Mech. Robot. 3 (2011) 011005.

DOI: 10.1115/1.4002694

Google Scholar

[5] C.M. Gosselin, J. Angeles, Singularity analysis of closed-loop kinematic chains, Trans. Robotics and Automation 6 (1990) 281-290.

DOI: 10.1109/70.56660

Google Scholar