Journal of South China University of Technology (Natural Science Edition) ›› 2014, Vol. 42 ›› Issue (11): 7-13.doi: 10.3969/j.issn.1000-565X.2014.11.002

• Mechanical Engineering • Previous Articles     Next Articles

Singularity Configuration Analysis and Avoidance of a New Type of Spatial 5- DOF Parallel Mechanism

Chen Bing-fa Ding Wang-sheng Ding Li-ping Chen Wen-liang   

  1. College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,Jiangsu,China
  • Received:2014-05-14 Revised:2014-07-17 Online:2014-11-25 Published:2014-11-17
  • Contact: 陈炳发(1963-)，男，教授，主要从事机械设计及理论、产品创新设计等的研究． E-mail:bfchen@nuaa.edu.cn
  • About author:陈炳发(1963-)，男，教授，主要从事机械设计及理论、产品创新设计等的研究．
  • Supported by:

     国家自然科学基金资助项目( 51105200)

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Abstract:

In the investigation,a new type of spatial 5- DOF parallel mechanism is constructed by constraining branched chains,and is used to realize the three translational DOF and two rotational DOF of a moving platform.First,the DOFs of the mechanism are analyzed by means of the screw theory,and the constraint and movement sub- matrices of the mechanism are deduced.On this basis,a complete Jacobin matrix of the mechanism is esta- blished. Then,the singular conditions of the mechanism are analyzed on the basis of the Jacobin matrix,and two methods to avoid the singularity configuration of the mechanism are proposed by choosing the working range of the moving platform or by changing the mechanism dimensions.Finally,the correctness and effectiveness of the pro- posed method is verified by a numerical example.

Key words: parallel mechanism, singularity configuration, configuration avoidance, screw theory, Jacobin matrix

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