A novel criterion for singularity analysis of parallel mechanisms

Slavutin, Michael; Shai, Offer; Sheffer, Avshalom; Reich, Yoram

doi:10.1016/j.mechmachtheory.2019.03.001

Cited by 19 publications

(9 citation statements)

References 22 publications

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“…By analyzing the Jacobian matrix and singular image of the mechanism, the singular position of the mechanism can be obtained [31][32][33]. When θ i1 = π/2 and θ i2 = 0°of a limb, the mechanism will have a singular position 1, as shown in Figure 20a.…”

Section: Singularity Analysismentioning

confidence: 99%

Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

Shen

Guo

et al. 2022

Chin. J. Mech. Eng.

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The kinematic redundancy is considered as a way to improve the performance of the parallel mechanism. In this paper, the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic redundancy (3-DOF PM-KR) and the influence of redundant parts on the PM-KR are analyzed. Firstly, the kinematics model of the PM-KR is established. The inverse solutions, the Jacobian matrix, and the workspace of the PM-KR are solved. Secondly, the influence of redundancy on the PM-KR is analyzed. Since there exists kinematic redundancy, the PM-KR possesses fault-tolerant performance. By locking one actuating joint or two actuating joints simultaneously, the fault-tolerant workspace is obtained. When the position of the redundant part is changed, the workspace and singularity will be changed. The results show that kinematic redundancy can be used to avoid singularity. Finally, the simulations are performed to prove the theoretical analysis.

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Section: Singularity Analysismentioning

confidence: 99%

Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

Shen

Guo

et al. 2022

Chin. J. Mech. Eng.

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“…( 41)-(42). By analyzing the Jacobian matrix and singular image of the mechanism, the singular position of the mechanism can be obtained [31,32,33]. When θi1 =π/2 and θi2=0°of a limb, the mechanism will have a singular position①; When θi1 =θi2=π/2 of the three limbs, the mechanism will have a singular position②; When θi1 =0° of a limb, the mechanism produces a singular position③.…”

Section: Singularity Analysismentioning

confidence: 99%

Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with kinematic redundancy

Shen¹,

Qu²,

Guo³

et al. 2021

Preprint

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The kinematic redundancy is considered as a way to improve the performance of parallel mechanism. In this paper, the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic redundancy (3-DOF PM-KR) and the influence of redundant part on the PM-KR are analyzed. Firstly, the kinematics model of the PM-KR is established. The inverse solutions, the Jacobian matrix and the workspace of the PM-KR are solved. Secondly, the influence of the redundant redundancy on the PM-KR has been analyzed. Since there exists kinematic redundancy, the PM-KR possesses the fault-tolerant performance. By locking one actuated joint or two actuated joints simultaneously, the fault-tolerant workspace are obtained. When the position of the redundant part is changed, the workspace and singularity will be changed. The results show that the kinematic redundancy can be used to avoid the singularity. Finally, the simulations are performed to prove the theoretical analysis.

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“…The combination form of the parallel mechanism is different from that of the series mechanism. It combines the basic mechanisms in parallel and drives the follower movement to complete a specific motion path (Jaime and Alcaraz, 2018;Slavutin and Reich, 2020;Slavutin et al, 2019;Song, et al, 2014). The advantages of a parallel structure are a high stiffness and strong bearing capacity, while the disadvantages are a complex structure, large volume, and limited range of motion.…”

Section: Introductionmentioning

confidence: 99%

“…The advantages of a parallel structure are a high stiffness and strong bearing capacity, while the disadvantages are a complex structure, large volume, and limited range of motion. Generally, parallel mechanisms are often used in high-speed and large bearing capacity situations (Tian and Zhang, 2020;Wang et al, 2017;Tian et al, 2018;Zhang, et al, 2021). The advantages of a serial mechanism are the simple structure, low processing cost, simple control, large movement space, etc.…”

Section: Introductionmentioning

confidence: 99%

Modeling and control system experiment of a novel series three-axis stable platform

Song,

Xiao,

et al. 2024

Mech. Sci.

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Abstract. In this paper, a novel series three-axis stable platform (STSP) is proposed, and its azimuth angle structure, pitch angle structure, roll angle structure, overall system structure scheme, and control scheme are designed. The platform is a universal one. The forward and inverse kinematics and dynamics models of the STSP pitch-and-roll mechanisms are established, and the motion rules of the platform and the force conditions of the main components are analyzed. Establish a mathematical model of the platform control system, analyze the performance of the pitch-and-roll system of the STSP, propose a position velocity dual-closed-loop control strategy, and determine the controller parameters through simulation analysis of the control system. A comprehensive experiment is carried out to install the STSP on the swing platform; simulate the actual operating environment, verify the rationality and dynamic accuracy of the kinematic model, dynamic model, and control strategy; and verify the feasibility and stability of the system control scheme and platform configuration.

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A novel criterion for singularity analysis of parallel mechanisms

Cited by 19 publications

References 22 publications

Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with kinematic redundancy

Modeling and control system experiment of a novel series three-axis stable platform

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