NDLI: Geometric condition of 3UPS-S parallel mechanism in singular configuration

Content Provider	Springer Nature Link
Author	Han, Xianguo Liu, Yanlong
Copyright Year	2014
Abstract	The existing researches on singularity of parallel mechanism are mostly limited to the property and regularity of singularity locus and there is no further research into the geometric relationship between uncontrolled kinematic screw and parallel mechanism in singularity. A 3UPS-S parallel mechanism is presented which fulfils 3-DOF in rotation. The regularity of nutation angle singularity is analyzed based on the Jacobian matrix, and the singularity surface of 3UPS-S parallel mechanisms is obtained. By applying the concept of reciprocal product in screw theory, the singular kinematic screw is derived when 3UPS-S parallel mechanism is in singularity. The geometric relationship between singular kinematic screw and singular configuration of 3UPS-S parallel mechanism is investigated by using programs in MATLAB. It is revealed that there are two kinds of situation. Firstly, the three limbs of 3UPS-S parallel mechanism intersect the singular kinematic screw in space simultaneously; Secondly, two limbs cross the singular kinematic screw while the third limb parallels with that screw. It is concluded that the nutation angle singularity of 3UPS-S parallel mechanism belongs to the singular linear complexes. This paper sheds light into and clarifies the geometric relationship between singular kinematic screw and singular configuration of 3UPS-S parallel mechanism.
Starting Page	130
Ending Page	137
Page Count	8
File Format	PDF
ISSN	10009345
Journal	Chinese Journal of Mechanical Engineering
Volume Number	27
Issue Number	1
e-ISSN	21928258
Language	English
Publisher	Springer Berlin Heidelberg
Publisher Date	2014-02-04
Publisher Place	Berlin, Heidelberg
Access Restriction	Subscribed
Subject Keyword	parallel mechanism condition number of Jacobian matrix screw theory singular linear complexes Mechanical Engineering Theoretical and Applied Mechanics Manufacturing, Machines, Tools Engineering Thermodynamics, Heat and Mass Transfer Power Electronics, Electrical Machines and Networks Electronics and Microelectronics, Instrumentation
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Mechanical Engineering

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