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Volume 40 Issue 1
Jan.  2014
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Journal of Beijing University of Aeronautics and Astronautics  > 2014  >  40(1): 6-9.
Han Xianguo, Liu Yanlong. Singularity of 3UPS-S parallel mechanism in single limb motion[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(1): 6-9. (in Chinese)
Citation: Han Xianguo, Liu Yanlong. Singularity of 3UPS-S parallel mechanism in single limb motion[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(1): 6-9. (in Chinese)
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Singularity of 3UPS-S parallel mechanism in single limb motion

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 23 Mar 2013
  • Publish Date: 20 Jan 2014
    Abstract
  • If only one limb of the parallel mechanism was driven, this limb can't move in full stroke because of the constraints from other limbs. In order to analyze the essential cause of single limb motion limit in parallel mechanism, the method of screw reciprocal product was adopted to calculate the axial velocity component. According to the result, when the axial velocity changes into zero, the single limb motion arrives boundary. The parallel mechanism is in single limb motion singularity from input space. At the same time the parallel mechanism is in configuration singularity from workspace. So the single limb motion singularity is equal to configuration singularity in parallel mechanism. By analyzing the input and output velocity at the moment, the parallel mechanism got to the boundary of input space. Finally the general strategy of single limb motion was given.

     

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