Title :
Kinematics and singularity analysis of a 3-DOF parallel kinematic machine
Author :
Zhang, Fan ; Zhang, Dan ; Yang, Jianguo ; Li, Beizhi
Author_Institution :
Dong Hua Univ., Shanghai, China
fDate :
29 July-1 Aug. 2005
Abstract :
In this paper, a 3-DOF parallel mechanism that can be used for 3-axis machine tool is introduced. The geometric structure is presented first. Then the inverse kinematic and forward kinematic problems for this structure are solved, the results are validated as well. Screw theory is applied in the paper in order to conduct the singularity analysis. The rational of using screw theory is explained. A 6 × 6 Jacobian matrix which provides information about architecture and constraint singularities is obtained with screw theory, and the results are verified using a particular singularity position of the 3-DOF structure. The forward kinematics will be further used in real-time control of the 3-axis machine tool.
Keywords :
Jacobian matrices; computational geometry; kinematics; machine tools; 3-DOF parallel kinematic machine; 3-DOF structure; 3-axis machine tool; Jacobian matrix; constraint singularities; forward kinematic; geometric structure; inverse kinematic; kinematics analysis; real-time control; screw theory; singularity analysis; singularity position; Assembly; Constraint theory; Design automation; Fasteners; Jacobian matrices; Kinematics; Leg; Machine tools; Machining; Vectors;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626890
