Singularity Analysis For 3-PPR Parallel Spherical Mechanism based on Screw Theory
A new type of 3-PPR spherical parallel mechanism is proposed.Due to the mobile pair special trajectory in each branch chain,the mobile pair can be equivalent conversion for revolute pair.Based on screw theory,each branched chain motion screw system is given.The mobility of this mechanism is analyzed...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.022 |
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| author | Zhao Ruijie Song Shengtao Li Ruiqin Li Dahai Zhao Jianwen |
| author_facet | Zhao Ruijie Song Shengtao Li Ruiqin Li Dahai Zhao Jianwen |
| author_sort | Zhao Ruijie |
| collection | DOAJ |
| description | A new type of 3-PPR spherical parallel mechanism is proposed.Due to the mobile pair special trajectory in each branch chain,the mobile pair can be equivalent conversion for revolute pair.Based on screw theory,each branched chain motion screw system is given.The mobility of this mechanism is analyzed firstly with the amendment G-K formula,The numbers of degrees of freedom is obtained.Secondly,by using the solution method of inverse spiral system and matrix theory knowledge,under the premise of Jacobian matrix of the 3-PPR spherical parallel mechanism is solved,the rank of matrix is analyzed,the singular configuration conditions and the type of singular configuration of the mechanism are obtained.In the end,according to the forward kinematics solution and interference condition,the Matlab software is used to draw up the stable working space.Research shows that a 3-PPR parallel spherical mechanism singularity is less,and easy to avoid,has good application prospect. |
| format | Article |
| id | doaj-art-12a42f5cfa1f433aa2a5ef3e79aa11ea |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-12a42f5cfa1f433aa2a5ef3e79aa11ea2025-01-10T14:36:23ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-014110811129928490Singularity Analysis For 3-PPR Parallel Spherical Mechanism based on Screw TheoryZhao RuijieSong ShengtaoLi RuiqinLi DahaiZhao JianwenA new type of 3-PPR spherical parallel mechanism is proposed.Due to the mobile pair special trajectory in each branch chain,the mobile pair can be equivalent conversion for revolute pair.Based on screw theory,each branched chain motion screw system is given.The mobility of this mechanism is analyzed firstly with the amendment G-K formula,The numbers of degrees of freedom is obtained.Secondly,by using the solution method of inverse spiral system and matrix theory knowledge,under the premise of Jacobian matrix of the 3-PPR spherical parallel mechanism is solved,the rank of matrix is analyzed,the singular configuration conditions and the type of singular configuration of the mechanism are obtained.In the end,according to the forward kinematics solution and interference condition,the Matlab software is used to draw up the stable working space.Research shows that a 3-PPR parallel spherical mechanism singularity is less,and easy to avoid,has good application prospect.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.022Parallel spherical mechanismScrew theoryJacobian matrixSingularityPositive position solutionWorking space |
| spellingShingle | Zhao Ruijie Song Shengtao Li Ruiqin Li Dahai Zhao Jianwen Singularity Analysis For 3-PPR Parallel Spherical Mechanism based on Screw Theory Jixie chuandong Parallel spherical mechanism Screw theory Jacobian matrix Singularity Positive position solution Working space |
| title | Singularity Analysis For 3-PPR Parallel Spherical Mechanism based on Screw Theory |
| title_full | Singularity Analysis For 3-PPR Parallel Spherical Mechanism based on Screw Theory |
| title_fullStr | Singularity Analysis For 3-PPR Parallel Spherical Mechanism based on Screw Theory |
| title_full_unstemmed | Singularity Analysis For 3-PPR Parallel Spherical Mechanism based on Screw Theory |
| title_short | Singularity Analysis For 3-PPR Parallel Spherical Mechanism based on Screw Theory |
| title_sort | singularity analysis for 3 ppr parallel spherical mechanism based on screw theory |
| topic | Parallel spherical mechanism Screw theory Jacobian matrix Singularity Positive position solution Working space |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.022 |
| work_keys_str_mv | AT zhaoruijie singularityanalysisfor3pprparallelsphericalmechanismbasedonscrewtheory AT songshengtao singularityanalysisfor3pprparallelsphericalmechanismbasedonscrewtheory AT liruiqin singularityanalysisfor3pprparallelsphericalmechanismbasedonscrewtheory AT lidahai singularityanalysisfor3pprparallelsphericalmechanismbasedonscrewtheory AT zhaojianwen singularityanalysisfor3pprparallelsphericalmechanismbasedonscrewtheory |