Actuation Singularity Analysis of a 3-RPS Rotational Parallel Mechanism

Ziming Chen ； Kun Huang ； Yang Zhang ； Zhen Huang ； Huafeng Ding

《Proceedings of the 14th IFToMM World Congress》 14th-4 (2015/11) Pp. 248-255

https://doi.org/10.6567/IFToMM.14TH.WC.OS13.096

並列摘要

In this paper, a particular actuation singularity of a 3-RPS symmetrical rotational parallel mechanism (PM) is studied. When the movable platform of this PM is restricted to rotate about the vertical axis of the base, it is equivalent to a single loop mechanism (SLM). By analyzing the constraint properties of the SLM, the motion characteristics of this 3-RPS rotational PM under this motion are obtained and the actuation singularity is determined. This kind of singularity will happen when the actuated joints reach the extreme values which is similar to the dead point singularity of the planar slider-crank mechanism. The same kind of singularity occurs to this class of 3-DOF symmetrical PMs with similar structure and motion properties.

並列關鍵字

RPS ； parallel mechanism ； rotational mechanism ； singularity analysis