Singularity Analysis of a three translational degrees of freedom Parallel Mechanism

DOI

10.2991/iccet-15.2015.1How to use a DOI?

Keywords

Parallel machanism; Jacobian matrix; singular configuration

Abstract

The singularity of a new 3-DOF parallel mechanism was analyzed. The position equation of the mechanism was gotten by the inverse kinematics solution. The velocity equation of the machine was gotten by the derivation of the position equation, and then got the Jacobian matrix, and the singularity conditions were analyzed. The singularity analysis will lay the trajectory planning of the mechanism.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Binjiu Yang
AU  - Xiu Qin
PY  - 2015/11
DA  - 2015/11
TI  - Singularity Analysis of a three translational degrees of freedom Parallel Mechanism
BT  - Proceedings of the 5th International Conference on Civil Engineering and Transportation 2015
PB  - Atlantis Press
SP  - 1
EP  - 5
SN  - 2352-5401
UR  - https://doi.org/10.2991/iccet-15.2015.1
DO  - 10.2991/iccet-15.2015.1
ID  - Yang2015/11
ER  -