Topology and analysis of the singularities of a parallel mechanism with three degrees of freedom

• Autorzy: Bałchanowski J.

Identyfikatory

DOI

10.1016/j.acme.2013.04.003

• Języki publikacji: EN

Abstrakty

EN

This paper describes the topology, geometry and kinematics of a translational parallel mechanism with three degrees of freedom. Basic topological and geometric conditions for ensuring exclusively translational motion of the driven link relative to the base are formulated. Fundamental relations for the kinematic analysis of the system are introduced. The equations are needed to describe and solve the direct and inverse problem of the kinematics and to provide a basis for the analytical definition of the mechanism's singular configurations and their determination.

Słowa kluczowe

EN

parallel mechanisms; topology; kinematic analysis; singularity

PL

mechanizmy równoległe; topologia; analiza kinematyczna; osobliwość

• Wydawca: Springer ; Wrocław University of Science and Technology
• Czasopismo: Archives of Civil and Mechanical Engineering
• Rocznik: 2014
• Tom: Vol. 14, no. 1
• Strony: 80--87
• Opis fizyczny: Bibliogr. 14 poz., rys., wykr.

Twórcy

autor

Bałchanowski J.

• Institute of Machine Designand Operation, Wrocław University of Technology, ul. Łukasiewicza 7/9, 50-371 Wrocław, Poland

Bibliografia

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• [3] J. Bałchanowski, Topology, geometry and kinematics of the selected translational parallel mechanisms (in Polish), Przegląd Mechaniczny 67 (10) (2008) 20–26.
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• [14] Y. Fang, L.-W. Tsai, Analytical identification of limb structures for translational parallel manipulators, Journal of Robotic Systems 21 (5) (2004) 209–218.