CLASSIFICATION AND IDENTIFICATION OF SINGULARITIES OF PARALLEL MECHANISM

Abstract

Abstract: The various topological and geometrical properties of configuration spaces of parallel manipulators are researched using differentiable geometry tools. A finer classification and identification method for singularities in parallel mechanisms is presented and the underlying physical meaning of the various singularities is discussed. The proposed analysis approach can be applied to general parallel manipulators. Some classical parallel manipulators are tested and the results verify the effectiveness of the proposed theory.

Key words: Configuration spaces, Differentiable geometry, Parallel manipulator, Singular configuration

CLC Number:

TH112

Shen Hui;Wu Xuezhong;Liu Guanfeng;Li Zexiang. CLASSIFICATION AND IDENTIFICATION OF SINGULARITIES OF PARALLEL MECHANISM[J]. , 2004, 40(4): 26-31.

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CLASSIFICATION AND IDENTIFICATION OF SINGULARITIES OF PARALLEL MECHANISM

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