Mobility and singularity analysis of a class of 2-DOF rotational parallel mechanisms using a visual graphic approach

J.J. Yu, J. Dong, X Pei, G.H. Zong, Xianwen Kong, Q. Qiu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

In this paper, a simple and straightforward visual graphic approach for mobility and singularity analysis of mechanisms is introduced. Although the proposed method is established upon the reciprocal screw system theory, it needs no formula derivation instead knowing about a few simple rules. As a study case, mobility and singularity analysis for a class of two degrees-of-freedom (DOF) rotational parallel mechanisms i.e. well-know Omni-Wrist III with four limbs, and its two derived architectures with three limbs (named T-type and δ-type) is analyzed by the proposed method. As a result, a novel PKM derived from Omni-Wrist III is presented, which has the DOF and kinematics property close to Omni Wrist III.
Original languageEnglish
Title of host publication35th Mechanisms and Robotics Conference, Parts A and B
PublisherAmerican Society of Mechanical Engineers
Pages1027-1036
Number of pages10
Volume6
ISBN (Print)978-0-7918-5483-9
DOIs
Publication statusPublished - 2011
EventASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Washington DC, United States
Duration: 28 Aug 201131 Aug 2011

Conference

ConferenceASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
CountryUnited States
CityWashington DC
Period28/08/1131/08/11

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    Yu, J. J., Dong, J., Pei, X., Zong, G. H., Kong, X., & Qiu, Q. (2011). Mobility and singularity analysis of a class of 2-DOF rotational parallel mechanisms using a visual graphic approach. In 35th Mechanisms and Robotics Conference, Parts A and B (Vol. 6, pp. 1027-1036). [DETC2011-48274] American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2011-48274