شماره ركورد كنفرانس :
3770
عنوان مقاله :
Kinematic Singularity Analysis and Verification of Hexapod Machine Tool
پديدآورندگان :
nategh mohammad javad nategh@modares.ac.ir M.Sc. student, Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran , mohammadinejad pouya Associate Professor, Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran
كليدواژه :
Parallel mechanism , Hexapod , Singularity , Genetic Algorithm.
عنوان كنفرانس :
چهارمين كنفرانس بين المللي دو سالانه مكانيك جامدات تجربي
چكيده فارسي :
In the present research, the singularity of hexapod machine tool was studied on the basis of the reverse kinematics of the mechanism. Determination of Jacobian matrix, led to a complicated and nonlinear equation with 6 variables. To locate singular poses of the mechanism, roots of singularity equation must be calculated. The classical numerical methods could not yield a reliable solution. A genetic algorithm was, therefore, applied to find the roots of the singularity equation. The results were verified by numerous experiments, having been reported in the present paper.
