Singularity Analysis and Simulation of 3-PRRR Parallel Mechanism

Abstract:

A new 3-DOF parallel mechanism is presented and its kinematics analysis model was established based on the vector method. Based on the speed equations of the mechanism, its singular conditions and singular configurations were analyzed systematically. Moreover, a given mechanism’s singularity was simulated by using cylindrical coordinate search method based on its inverse displacement solutions. The results show that the workspace of mechanism with outset chains is much bigger than mechanism with inset chains. The analysis and simulation on singularity provide a theoretical basis for the dimension synthesis and optimization of this kind of parallel mechanism.

• Periodical: Applied Mechanics and Materials (Volumes 556-562)
• Pages: 1226-1231
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.556-562.1226
• Online since: May 2014
• Authors: Ya Ya Zhu, Tie Fu*, Hong Sheng Ding, Yan Ming Wang, Yong Jie Wang
• Keywords: Cylindrical Coordinate Search Method, Inverse Kinematics, Singularity Analysis, Singularity Simulation

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