Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory-Reference-Cited by-同舟云学术

Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory

Published:2003-09-01 Issue:3 Volume:125 Page:573-581
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Bonev Ilian A.¹,Zlatanov Dimiter¹,Gosselin Cle´ment M.¹

Affiliation:

1. De´partement de Ge´nie Me´canique, Universite´ Laval, Que´bec, QC, Canada G1K 7P4

Abstract

This paper presents the results of a detailed study of the singular configurations of 3-DOF planar parallel mechanisms with three identical legs. Only prismatic and revolute joints are considered. From the point of view of singularity analysis, there are ten different architectures. All of them are examined in a compact and systematic manner using planar screw theory. The nature of each possible singular configuration is discussed and the singularity loci for a constant orientation of the mobile platform are obtained. For some architectures, simplified designs with easy to determine singularities are identified.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/125/3/573/5799844/573_1.pdf

Reference22 articles.

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