Volume 28 Issue 2
Mar.  2006
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ZHU Da-chang, FANG Yue-fa. Singularity Analysis of a New Family of 3-DOF Mobile Parallel Manipulators via Screw Theory[J]. ROBOT, 2006, 28(2): 103-106.
Citation: ZHU Da-chang, FANG Yue-fa. Singularity Analysis of a New Family of 3-DOF Mobile Parallel Manipulators via Screw Theory[J]. ROBOT, 2006, 28(2): 103-106.
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Singularity Analysis of a New Family of 3-DOF Mobile Parallel Manipulators via Screw Theory

  • School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China

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  • Received Date: April 04, 2005
  • Published Date: March 14, 2006
    Graphical Abstract
    • Abstract
  • This article presents the singularity analysis and synthesis of a 3-DOF(degree of freedom) mobile parallel manipulator with 3 limbs and 5 joints via screw theory and linear geometrical method.We studies the singularity of structure and the singularity of configuration of active(actuating) joints.Linear geometrical schemes are given to illustrate the displacement of singularity.This analysis lays a foundation for further research on kinematics and dynamics of this kind of parallel manipulators.
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    • References (10)
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