Singularity analysis of 3-DOF planar parallel mechanisms via screw theory

被引：241

作者：

Bonev, IA ^{[1
]}

Zlatanov, D ^{[1
]}

Gosselin, CM ^{[1
]}

机构：

[1] Univ Laval, Dept Genie Mecan, Laval, PQ G1K 7P4, Canada

来源：

JOURNAL OF MECHANICAL DESIGN | 2003年 / 125卷 / 03期

关键词：

D O I：

10.1115/1.1582878

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents the results of a detailed study of the singular configurations of 3-DOF planar parallel mechanisms with three identical legs. Only prismatic and revolute Joints are considered. From the point of view of singularity analysis, there are ten different architectures. All of them are examined in a compact and systematic manner using planar screw theory. The nature of each possible singular configuration is discussed and the singularity loci for a constant orientation of the mobile platform are obtained. For some architectures, simplified designs with easy to determine singularities are identified.

引用

页码：573 / 581

页数：9

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