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Li Yanwen
Huang Zhen
Robotics Research Center,
Yanshan University,
Qinhuangdao 066004, China |
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METHOD USED IN SINGULARITY RESEARCH BASED ON KINEMATICS AND ITS
EXAMPLE IN APPLICATION*
Abstract:
First the kinematic principle of singularity is proved, that is
the intersecting point of three normal planes of three velocities at three non-collinear points in a rigid body lying in the plane determined by the three corresponding points. It is a sufficient and necessary condition that the velocities of three non-collinear points in a rigid body can determine a screw motion of the body. Based on this principle, a simple and direct new method to distinguish the singularity of the parallel manipulator is derived. With this new kinematic
method, the 3-RPS parallel manipulator is studied. Its
singularity loci are obtained for some orientations for the first time and verified with Grassmann line geometry and screw theory and the force Jacobian matrix.
Key words: Parallel manipulator 3-RPS Kinematic method Singularity |