Singularity analysis of platform-type multi-loop spatial mechanisms

被引:56
作者
Basu, D
Ghosal, A
机构
[1] Department of Mechanical Engineering, Indian Institute of Science
关键词
D O I
10.1016/S0094-114X(96)00033-X
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
In parallel manipulators and multi-loop mechanisms, singularity is associated with either loss or gain of a degree of freedom. This paper deals with the singularity analysis associated with gain of degree of freedom in a class of spatial mechanisms. We present a geometric condition for platform-type, multi-loop, mechanisms and parallel manipulators, containing spherical joints on the platform, whose existence ensures singularity in such mechanisms. The geometric condition is based on the concept of a common tangent. We show that this condition also implies that the determinant of certain matrices, formed by the differentiation of the loop-closure equations, are zero. We illustrate our results with the help of several multi-loop mechanisms. In particular, we describe the singularity surface for the three-degree-of- freedom RPSSPR-SPR 'wrist' mechanism. (C) 1997 Elsevier Science Ltd.
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页码:375 / 389
页数:15
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