Forward displacement analysis and singularity analysis of A 2-DOF 5R spherical parallel manipulator

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4 Citations (Scopus)

Abstract

This paper deals with the forward displacement analysis and singularity analysis of a 2-DOF 5R spherical parallel manipulator. An alternative formulation of the kinematic equations of the 2- DOF spherical parallel manipulator is proposed. A formula is then derived to produce directly the unique current solution to the FDA of the 2-DOF spherical parallel manipulator. It is proved that the formula is associated with the same assembly mode and working mode as the reference configuration of the spherical parallel manipulator. Unlike other parallel manipulators, the 2-DOF 5R spherical parallel manipulator always undergoes self-motion in a Type 2 singular configuration, and the 3R leg of the 2-DOF spherical parallel manipulator also always undergoes self-motion in a Type 1 singular configuration. Copyright © 2009 by ASME.

Original languageEnglish
Title of host publicationProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Pages443-447
Number of pages5
Volume3
Publication statusPublished - 2010
Event2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - San Diego, CA, United States
Duration: 30 Aug 20092 Sep 2009

Conference

Conference2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Abbreviated titleDETC2009
Country/TerritoryUnited States
CitySan Diego, CA
Period30/08/092/09/09

Keywords

  • Forward displacement analysis
  • Parallel mechanism
  • Quadratic parallel mechanism
  • Singularity analysis.
  • Spherical parallel mechanism

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