Singularity is an inherent nature of mechanism, which make a significant impact on mechanism’s work performance. The singularity loci of a spatial rotation 3-SPS-1-S parallel mechanism was studied. The parallel robot kinematics model was constructed. The equations for inverse displacement and velocity kinematics were derived, and the Jacobian matrix of this mechanism was analyzed. The singularity criterion was proposed,and two types of singularity were determined to be singular configuration. Manipulability degree was introduced to evaluate kinematical performance of the parallel manipulator for the singularity loci analysis. The results showed that the parallel mechanism has a good manageability and kinematics performance in the specified task space, but the special motion position should be turned away to avoid the occurrence of singularity.
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张艳伟,崔国华,孙振军,张占强.空间转动3-SPS-1-S型并联机构奇异位形研[J].农业机械学报,2010,41(4):199-203. Loci Analysis of 3-SPS-1-S Spatial Rotation Parallel Manipulator[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(4):199-203.