Structure singularities and actuated joints configuration singularities analysis presented for a new family of 3-DoF P-4R parallel mechannisms, using the screw theory, reciprocal screw and linear geometric theory. Geometric conditions used as guildlines for the design of parallel mechanisms that can be avoid architecture singularities. The effectiveness method used to analyze the same special parallel mechanisms. Based on these analysis theory, numerical examples with certainly displacement of singularity are provided.


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    Title :

    Singularity Analysis of the 3-DoF (P-4R) Parallel Mechanisms by Screw Theory


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Wang, Yi (editor) / Martinsen, Kristian (editor) / Yu, Tao (editor) / Wang, Kesheng (editor) / Li, Kunquan (author) / Wen, Rui (author)

    Conference:

    International Workshop of Advanced Manufacturing and Automation ; 2020 ; Zhanjiang, China October 12, 2020 - October 13, 2020



    Publication date :

    2021-01-23


    Size :

    7 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English