The singularity research of a novel 2T2R parallel mechanism

Author

Wang, Sheng

Author_Institution

Shaanxi Radio & TV Univ., Xi´´an, China

fYear

2011

fDate

15-17 July 2011

Firstpage

866

Lastpage

869

Abstract

Kinematic pairs being reasonable arranged, a novel spatial parallel mechanism of 2RPU-2SPU possessing four degrees of freedom (DOFs) is built. This mechanism is composed of fixed and moving platform by means of four parallel bars containing two adjacent RPU limps and two adjacent SPU limps. Moving character is analysed by using screw theory and DOFs are calculated by revised Kutzbach-GrAbler formula. The moving platform of this mechanism has two translational and two rotational (2T2R) DOFs. Input of chosen is discussed so that the constraint screws are obtained when four drivers are locked. The special position of this mechanism leads to determinant of constraint screws being equal to zero, that is to say, mechanism is clear at singular configuration. This analysis lays a foundation for further research on kinematics and dynamics.

Keywords

algebra; calculus; robot dynamics; robot kinematics; 2T2R spatial parallel mechanism; Kutzbach-Grabler formula; RPU limps; constraint screws; dynamics; moving platform kinematics; parallel bars; screw theory; singularity research; two-translational two-rotational DOF; Correlation; Fasteners; Force; Joints; Kinematics; Periodic structures; parallel mechanism; screw theory; singular configuration;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on

Conference_Location

Hohhot

Print_ISBN

978-1-4244-9436-1

Type

conf

DOI

10.1109/MACE.2011.5987066

Filename

5987066