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The free mobility of a parallel manipulator

Published online by Cambridge University Press:  18 April 2006

Jing-Shan Zhao
Affiliation:
Department of Precision Instruments, Tsinghua University, Beijing 100084, P.R. China Postal address: Department of Precision Instruments, Tsinghua University, Beijing 100084, P.R. China.
Zhi-Jing Feng
Affiliation:
Department of Precision Instruments, Tsinghua University, Beijing 100084, P.R. China
Li-Ping Wang
Affiliation:
Department of Precision Instruments, Tsinghua University, Beijing 100084, P.R. China
Jing-Xin Dong
Affiliation:
Department of Precision Instruments, Tsinghua University, Beijing 100084, P.R. China

Abstract

Singularities of a manipulator have been addressed repeatedly. However, the singularities and the degree(s) of freedom, as a matter of fact, are two different aspects of the mobility of a manipulator. Consequently, this paper dedicates to discussing the mobility properties through mobility space, which synchronously define the type, number and direction characteristics of the independent motions that the manipulator should execute. The mobility space of a manipulator can be obtained with reciprocal screws of the manipulator via singular value decomposition, which instantaneously depicts the singularity and mobility problems of the manipulators. Application example demonstrates that this methodology can investigate the all-sided mobility properties of parallel manipulators.

Type
Article
Copyright
2006 Cambridge University Press

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