Research on the Configurations and Singularity of Serial-Parallel Mechanism

Abstract

Methods to analysis the DOF(degree of freedom) and singularity of pure serial and pure parallel manipulator, which can not be used to the serial-parallel manipulator directly, three type of practical topological units and one type of virtual topological unit adopted, Synthesis method of topological dimensionality of the spatial mobility of each topological unit integrated together, architectures of serial-paralle mechanism discussed, also the formula and process of its topological dimensionality of spatial mobility presented, singularity analysis of serial-parallel mechanism can be carried out based on the forgoing results.