Analysis and Evaluation of Non-Singularity Workspace of Parallel Manipulator

Yu Jia Liu; Tie Fu; Hong Sheng Ding; Yan Ming Wang

doi:10.4028/www.scientific.net/AMM.713-715.743

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 713-715Analysis and Evaluation of Non-Singularity...

Analysis and Evaluation of Non-Singularity Workspace of Parallel Manipulator

Abstract:

This paper studied the novel 3-PRRR manipulator, the non-singularity workspace was deduced, satisfying various constrains, containing the angle scales of driving pairs, the travelling limits of driven pairs and the singular position conditions. Stepwise refinement method was employed and acceleration approaching method were put forward to improve the performance evaluation solving speed.

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Periodical:

Applied Mechanics and Materials (Volumes 713-715)

Pages:

743-747

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.713-715.743

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Online since:

January 2015

Authors:

Yu Jia Liu*, Tie Fu, Hong Sheng Ding, Yan Ming Wang

Keywords:

Non-Singularity Workspace, Parallel Manipulator, Performance Access

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