A new mathematical method to study the singularity of 3-RSR multimode mobile parallel mechanism

DOI10.1155/2019/1327167MaRDI QIDQ2298038zbMATH OpenOpenAlexWikidataFDO

Authors Chunyan Zhang, Yu Wan, Dan Zhang, Qihua Ma

Publication date 20 February 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2019/1327167

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Review text

Summary: In the process of parallel mechanism design, it is difficult to avoid the singularity, especially in the mobile parallel mechanism. Therefore, a new mathematical method to study the singularity of multimode mobile parallel mechanism is proposed. In this paper, the singularity of 3-RSR parallel mechanism (PM) is analyzed by using reciprocal screw methods and linear geometry theory from two aspects of fixed mode and all-attitude multiple motion modes. Specifically, the complete Jacobian matrix of the PM is obtained by using the screw theory, and the reciprocal screw of each branch is expressed with algebraic method and geometric drawing method. Furthermore, the singularity of the PM can be obtained by analyzing the reciprocal screw correlation and using the spatial linear geometry theory. Finally, we analyze the singular configuration of the PM under various modes, which provide theoretical guidance for the gait planning of the multimode mobile PM and will be useful for the selection of mechanism drive and time-sharing control.

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Cites work

• Parallel robots.
• Singularity analysis of parallel manipulators using constraint plane method
• The quartic singularity surfaces of planar platforms in the Clifford algebra of the projective plane.

Cited in

(4)

• Screw theory based singularity analysis of lower-mobility parallel robots considering the motion/force transmissibility and constrainability
• Singularity loci research on high-speed travelling type of double four-rod spatial parallel mechanism.
• On forward and inverse singularity of a 6-PRRS parallel robot
• A novel method for singularity analysis of the 6-SPS parallel mechanisms

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