Singularity Elimination of Parallel Mechanism by Redundant Actuations

Yanfei Zhang; Jinliang Gong; Xiu Ting Wei

doi:10.4028/www.scientific.net/AMR.204-210.1540

Paper Titles

The Coordination of Logistics Service Quality for Manufacturing Enterprise and TPL
p.1519

Research on Location Accuracy of UAV Based on DGPS/INS Technique
p.1525

Design of the Evaluation System for the Value of the Mobile Internet Service
p.1529

The Core Applications and Experience of Typical 3G Operators
p.1536

Singularity Elimination of Parallel Mechanism by Redundant Actuations
p.1540

A Collecting and Distribution System of Urban Traffic Information Based on Video Events Detection
p.1544

Ultimate Boundedness of Stochastic Neural Networks with Delays
p.1549

Research on Power Transformer Fault Forecast
p.1553

Study on Intelligent Extracting Algorithm of Fascicular Groups from Nerve Slice Image
p.1559

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 204-210Singularity Elimination of Parallel Mechanism by...

Singularity Elimination of Parallel Mechanism by Redundant Actuations

Abstract:

Singularity is a basic problem for parallel mechanism design because of its many negative influences on the mechanism performances. Traditionally, three kinds of singularities are suitable for analysis of the parallel mechanisms. By considering both the common and redundant actuation parallel mechanisms, general kinematic model is used to obtain input factor matrix and output factor matrix. Based on ranks of the two matrices, the singularity type becomes easy to judge. And the second kind of singularity can be reduced or eliminated by adding special redundant actuation sub-chains. A two-degree-of-freedom parallel mechanism is provided to illustrate the method about how to create the needed redundant actuation sub-chains.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Advanced Materials Research (Volumes 204-210)

Pages:

1540-1543

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.204-210.1540

Citation:

Cite this paper

Online since:

February 2011

Authors:

Yanfei Zhang, Jinliang Gong, Xiu Ting Wei

Keywords:

Parallel Mechanism, Redundant Actuation, Singularity

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Y. Nakamura, H. Hanafusa: Journal of Dynamic System, Measurement and Control, Vol. 108 (1986), pp.163-171.

Google Scholar

[2] Y.K. Yiu, H. Cheng, Z.H. Xiong, G.F. Liu, and Z.X. Li: Proc. of IEEE International Conference on Robotics & Automation, Vol. 1 (2001), pp.3766-3771.

Google Scholar

[3] G.F. Liu, Y.L. Wu, X.Z. Wu: Proc. of IEEE International Conference on Robotics & Automation, Vol. 1 (2001), pp.3748-3754.

Google Scholar

[4] Yanfei Zhang, Jinliang Gong, Feng Gao: Proc. of the 12th World Congress in Mechanism and Machine Science, Vol. 6 (2007), pp.17-21.

Google Scholar