On the Estimation of Closeness to Singularity for Parallel Mechanisms Using Generalized Velocities and Reactions

P. A. Laryushkin ； V. A. Glazunov

《Proceedings of the 14th IFToMM World Congress》 14th-1 (2015/10) Pp. 286-291

https://doi.org/10.6567/IFToMM.14TH.WC.OS2.021

並列摘要

In this paper a general approach of estimating the closeness to different types of singularities of parallel mechanisms is discussed. The method is based on the analysis of generalized velocities and reactions under conditions when these parameters have maximized values. A way of calculating a twist of the moving plate and a wrench of external load which provide these conditions are presented. Both screw theory and Jacobian analysis is used to achieve this goal.

並列關鍵字

parallel mechanism ； singularity ； closeness to singularity ； screw theory ； Jacobian analysis