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Mobility analysis of the 3-UPU parallel mechanism assembled for a pure translational motion
- Source :
- Journal of Mechanical Design. June, 2002, Vol. 124 Issue 2, p259, 6 p.
- Publication Year :
- 2002
-
Abstract
- The occurrence of singular configurations in parallel mechanisms must be avoided during motion since the actuators cannot control motion even in the neighborhood of these configurations. As a consequence, the knowledge of the singular configurations of the mechanism is important for control purposes, for singularity-free path planning, and also represents basic information for the synthesis of a desired mechanism workspace free from singularities. In this paper the mobility analysis of the 3-UPU parallel mechanism assembled for obtaining a pure translation motion of the output platform is performed and both translation and rotation singularity loci are presented in analytic form and their geometric interpretation is given. [DOI: 10.1115/1.1471530] Keywords: Parallel Manipulators, Mobility Analysis, Singularity, Pure Translational Motion
Details
- ISSN :
- 10500472
- Volume :
- 124
- Issue :
- 2
- Database :
- Gale General OneFile
- Journal :
- Journal of Mechanical Design
- Publication Type :
- Academic Journal
- Accession number :
- edsgcl.87708489