Y. Lu and B. Hu
Parallel manipulator, singularity, CAD variation geometry
This paper proposes a novel CAD variation geometry approach for determining the quasi-singularity and singularity of parallel manipulators (PMs) with n linear active legs. Some mathematical foundations and CAD variation geometry techniques are presented. The inverse/forward velocity simulation mechanisms of PMs are created, and the velocity of platform is solved automatically and visualized dynamically. Based on the velocity simulation mechanism, the position and velocity surfaces are constructed, and the singularities of PMs at some poses are determined when velocities at these poses reach very large. The determined singularities of PMs at some poses are veriļ¬ed by relevant analytic solutions.
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