A novel methodology to study the singularity of spatial parallel mechanisms

Abstract

In this paper, a novel methodology to study the singularity of spatial parallel mechanisms is presented. With the theory of reciprocal screws, we make a thorough analysis of the kinematic screws of each branch mechanism. According to the physical meaning of the inverse screws of kinematic screws, we introduce the static equilibrium equations to gain a novel methodology to study the singularities of the dynamic mechanisms. Through the novel methodology, we obtain universal criteria that the mechanism will be singular.

The kinematics study of a class of spatial parallel mechanism with fewer degrees of freedom

“…According to the analysis in chapter 3.1, we can find that the manipulator has three independent translational movements along the three orthogonal axes x, y and z except for the singularity [13]. Similarly, the angles from the limbs to the manipulator will always be equal and assume the equal angle to be β.…”