Geometric Singularity Avoidance of a 3-SPS/S Parallel Mechanism with Redundancy using Conformal Geometric Algebra

Abstract

A parallel mechanism with redundancy can be regarded as a means for not only maximizing the benefits of parallel mechanisms but also overcoming their drawbacks. We proposed a novel parallel mechanism by eliminating an unnecessary degree of freedom of the configuration space. Because of redundancy, however, the solution for the inverse kinematics of the developed parallel mechanism is infinite. Therefore, we defined a cost function that can minimize the movement time to the target orientation and found the solution for the inverse kinematics by using a numerical method. In addition, we proposed a method for determining the boundary of the geometric singularity in order to avoid singularities.

Multi-Objective Optimization Design of 6-UPS Parallel Mechanism Based on Taguchi Method and Entropy-Weighted Gray Relational Analysis

“…With the advantages of simple structure, high positioning accuracy, and fast dynamic response, the parallel mechanism has been extensively used in the fields of advanced manufacturing equipment, national defense and military, automobile manufacturing, aerospace, and motion simulation [1][2][3]. In previous studies, researchers have explored parallel mechanisms from various aspects, especially in structural synthesis and design theory [4][5][6], kinematics and dynamics studies [7][8][9], singularity analysis [10][11][12], operation mode studies [13,14], and efficient control strategies [15,16]. These studies provide a deep foundation for the development of parallel mechanisms.…”