Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism

2009年第4卷第4期

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《机械工程前沿（英文）》 >> 2009年第4卷第4期 doi: 10.1007/s11465-009-0075-0

Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism

State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China;

发布日期： 2009-12-05

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摘要

Singularity analysis plays an important role in the design of robots, especially for parallel robots. In this paper, the direct and inverse kinematics of an orthogonal spherical two-degree-of-freedom parallel mechanism is proposed based on the modified Euler angles. All the singular poses of the mechanism are achieved through the direct kinematic analysis. Self-motions, which are different from the general spherical 5 parallel mechanisms, are also discussed. Singularity loci in the joint space and Cartesian space are plotted according to the Jacobin of the mechanism. Result shows that the singularity loci at the joint space are two circles and one line, whereas at the Cartesian space are a circle.

关键词

2-DOF orthogonal spherical parallel mechanism ; singularity loci ; self-motions