Research on the Configurations and Singularity of Serial-Parallel Mechanism

Abstract:

Methods to analysis the DOF(degree of freedom) and singularity of pure serial and pure parallel manipulator, which can not be used to the serial-parallel manipulator directly, three type of practical topological units and one type of virtual topological unit adopted, Synthesis method of topological dimensionality of the spatial mobility of each topological unit integrated together, architectures of serial-paralle mechanism discussed, also the formula and process of its topological dimensionality of spatial mobility presented, singularity analysis of serial-parallel mechanism can be carried out based on the forgoing results.

• Periodical: Advanced Materials Research (Volumes 393-395)
• Pages: 265-268
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.393-395.265
• Online since: November 2011
• Authors: Jian Guo Luo, Mao Yan He
• Keywords: Dimensionality, Serial-Parallel Mechanism, Singularity, Synthesis, Topological Unit

References

[1] B. Zhou, Y. Xu: Journal of Hunan University Vol. 1 (2005), pp.45-49, in Chinese.

[2] L. F. Huang,Y. F. Fang: Parallel robot mechanism and control theory(Mechanical Industry Press, Beijing 1997), in Chinese.

[3] Z. Huang, H. F. Ding: Journal of Yanshan University Vol. 27 (2003), pp.189-191, in Chinese.

[4] W. Zhao, J. J. Yu, and S. S. Bi: Journal of Beijing University of Aeronautics and Astronautics Vol. 6 (2001), pp.47-49, in Chinese.

[5] S. N. Yu, N. Z. Ma: Journal of China Mechanical Engineering Vol. 4 (2005), pp.23-25, in Chinese.

[6] K. Waldron, M. Raghavan: Journal of Dynamic System Measurement Control Vol. 111(1999), pp.211-221.