Title :
The singularity research of a novel 2T2R parallel mechanism
Author_Institution :
Shaanxi Radio & TV Univ., Xi´´an, China
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;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on
Conference_Location :
Hohhot
Print_ISBN :
978-1-4244-9436-1
DOI :
10.1109/MACE.2011.5987066
