Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

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Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

Chaoyu Shen et al · KeAi Communications Co., Ltd · 2022

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Autor / responsable

Chaoyu Shen et al

Editorial

KeAi Communications Co., Ltd

Año

2022

ISSN

1000-9345

ISSN

1000-9345

Idioma

eng

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Abstract The kinematic redundancy is considered as a way to improve the performance of the parallel mechanism. In this paper, the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic redundancy (3-DOF PM-KR) and the influence of redundant parts on the PM-KR are analyzed. Firstly, the kinematics model of the PM-KR is established. The inverse solutions, the Jacobian matrix, and the workspace of the PM-KR are solved. Secondly, the influence of redundancy on the PM-KR is analyzed. Since there exists kinematic redundancy, the PM-KR possesses fault-tolerant performance. By locking one actuating joint or two actuating joints simultaneously, the fault-tolerant workspace is obtained. When the position of the redundant part is changed, the workspace and singularity will be changed. The results show that kinematic redundancy can be used to avoid singularity. Finally, the simulations are performed to prove the theoretical analysis.

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APA 7

al, C. S. E. (2022). Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy. https://doi.org/10.1186/s10033-022-00793-2

MLA

al, Chaoyu Shen et. "Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy." 2022. https://doi.org/10.1186/s10033-022-00793-2.

Chicago

al, Chaoyu Shen et. 2022. "Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy.". https://doi.org/10.1186/s10033-022-00793-2.

Harvard

al, C. S. E. 2022, Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy, KeAi Communications Co, Ltd, available at: https://doi.org/10.1186/s10033-022-00793-2 [Accessed 29 Jun. 2026].

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Título: Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

Autor / colaboradores: Chaoyu Shen et al

Editorial: KeAi Communications Co., Ltd

Año de publicación: 2022

ISSN: 1000-9345

ISSN: 1000-9345

Idioma: eng

Materias

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Parallel mechanism; Kinematic redundancy; Singularity; Simulation analysis