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Classification of Parallel Mechanisms Read chapter Read first chapter

2014 | OriginalPaper | Chapter

5. Singularity of Parallel Mechanisms

Authors : Xin-Jun Liu, Jinsong Wang

Published in: Parallel Kinematics

Publisher: Springer Berlin Heidelberg

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Abstract

This chapter covers the singularity analysis of parallel mechanisms. The singularities of parallel mechanisms are classified into three types. For the first type of singularity, the mechanism loses 1 or more DOFs, while for the second type of singularity, the mechanism gains 1 or more DOFs. The third type of singularity occurs when the first and second types of singularity occur simultaneously. The physical meanings of each type of singularity are illustrated by two parallel mechanisms including a planar 5R type and a 3-DOF type. What is more important, a new approach to singularity analysis of parallel mechanisms taking into account the motion and force transmissibility is presented based on screw theory.

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previous chapter Velocity and Jacobian Analysis of Parallel Mechanisms
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Literature
Bonev IA, Gosselin CM (2001) Singularity loci of planar parallel manipulators with revolute joints. In: Proceedings of the 2nd workshop on computational kinematics, Seoul, South Korea, pp291–299
Daniali HRM, Zsombor-Murray PJ, Angeles J (1995) Singularity analysis of a general class of planar parallel manipulators. In: Proceedings of IEEE ICRA, pp 1547–1552
Gosselin CM, Angeles J (1990) Singularity analysis of closed loop kinematic chains. IEEE Trans Robot Autom 6(3):281–290CrossRef
Liu GF, Lou YJ, Li ZX (2003) Singularities of parallel manipulators: a geometric treatment. IEEE Trans Robot Autom 19(4):579–594CrossRef
Mayer St-Onge B, Gosselin CM (2000) Singularity analysis and representation of the General Gough-Stewart Platform. Int J Robot Res 19(3):271–288CrossRef
Park FC, Kim JW (1999) Singularity analysis of closed kinematic chains. J Mech Des 121:32–38CrossRef
Metadata
Title
Singularity of Parallel Mechanisms
Authors
Xin-Jun Liu
Jinsong Wang
Copyright Year
2014
Publisher
Springer Berlin Heidelberg
Book
Parallel Kinematics

Print ISBN: 978-3-642-36928-5

Electronic ISBN: 978-3-642-36929-2

Copyright Year: 2014

DOI
https://doi.org/10.1007/978-3-642-36929-2_5

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