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Singularity Analysis of 2R1P Spherical Parallel Mechanisms

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Book cover Recent Advances in Mechanism Design for Robotics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 33))

Abstract

This paper studies the possible configurations and singularities of 3-DOF spherical parallel mechanisms with revolute and prismatic pairs. In particular, the 2R1P spherical parallel mechanisms are studied, for which the kinematic models are established and Jacobian matrices are derived. Three kinds of singularities, namely the boundary, configuration and structure singularities, are identified and analyzed for RRP, PRR and RPR type of spherical parallel mechanisms. The results can be used for further modeling and analysis on workspace and trajectory planning of 3-DOF spherical parallel mechanisms towards the practical application of the kind of mechanisms.

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Acknowledgments

The authors gratefully acknowledge the financial and facility support provided by the National Natural Science Foundation of China (Grant No. 51275486) and the Specialized Research Fund for the Doctoral Program of Higher Education (Grant No. 20111420110005).

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Authors and Affiliations

  1. School of Mechanical and Power Engineering, North University of China, Taiyuan, 030051, China

    Yaohong Zhao, Ruiqin Li & Lei Sui

  2. Department of Mechanical and Manufacturing Engineering, Aalborg University, Aalborg, Denmark

    Shaoping Bai

Authors
  1. Yaohong Zhao
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  2. Ruiqin Li
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  3. Shaoping Bai
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  4. Lei Sui
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Corresponding author

Correspondence to Ruiqin Li .

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Editors and Affiliations

  1. Aalborg University, Aalborg, Denmark

    Shaoping Bai

  2. Laboratory of Robotics & Mechatronics LARM, University of Cassino and South Latium, Cassino, Italy

    Marco Ceccarelli

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© 2015 Springer International Publishing Switzerland

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Zhao, Y., Li, R., Bai, S., Sui, L. (2015). Singularity Analysis of 2R1P Spherical Parallel Mechanisms. In: Bai, S., Ceccarelli, M. (eds) Recent Advances in Mechanism Design for Robotics. Mechanisms and Machine Science, vol 33. Springer, Cham. https://doi.org/10.1007/978-3-319-18126-4_41

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  • DOI: https://doi.org/10.1007/978-3-319-18126-4_41

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-18125-7

  • Online ISBN: 978-3-319-18126-4

  • eBook Packages: EngineeringEngineering (R0)

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