A New Mathematical Method to Study the Singularity of 3-RSR Multimode Mobile Parallel Mechanism
Joint Authors
Zhang, Chunyan
Wan, Yu
Zhang, Dan
Ma, Qihua
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-04-11
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
In the process of parallel mechanism design, it is difficult to avoid the singularity, especially in the mobile parallel mechanism.
Therefore, a new mathematical method to study the singularity of multimode mobile parallel mechanism is proposed.
In this paper, the singularity of 3-RSR parallel mechanism (PM) is analyzed by using reciprocal screw methods and linear geometry theory from two aspects of fixed mode and all-attitude multiple motion modes.
Specifically, the complete Jacobian matrix of the PM is obtained by using the screw theory, and the reciprocal screw of each branch is expressed with algebraic method and geometric drawing method.
Furthermore, the singularity of the PM can be obtained by analyzing the reciprocal screw correlation and using the spatial linear geometry theory.
Finally, we analyze the singular configuration of the PM under various modes, which provide theoretical guidance for the gait planning of the multimode mobile PM and will be useful for the selection of mechanism drive and time-sharing control.
American Psychological Association (APA)
Zhang, Chunyan& Wan, Yu& Zhang, Dan& Ma, Qihua. 2019. A New Mathematical Method to Study the Singularity of 3-RSR Multimode Mobile Parallel Mechanism. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1194289
Modern Language Association (MLA)
Zhang, Chunyan…[et al.]. A New Mathematical Method to Study the Singularity of 3-RSR Multimode Mobile Parallel Mechanism. Mathematical Problems in Engineering No. 2019 (2019), pp.1-11.
https://search.emarefa.net/detail/BIM-1194289
American Medical Association (AMA)
Zhang, Chunyan& Wan, Yu& Zhang, Dan& Ma, Qihua. A New Mathematical Method to Study the Singularity of 3-RSR Multimode Mobile Parallel Mechanism. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1194289
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1194289