Kinematics, Singularity and Workspace Analysis of a Reconfigurable Parallel Mechanism for Large Scale Assembly

International Conference on Reconfigurable Mechanisms and Robots (ReMAR), pp. 447–452

Abstract

Reconfigurable parallel mechanisms (RPMs) own the advantages of high stiffness., good dynamic performance due to their parallel structural features., and can reconfigure themselves to accommodate different., complicated and changeable task requirements. This paper deals with kinematics of an RPM which can be converted into three operation modes in six motion cases. First., inverse kinematic models of the RPM are established through the method of closed-loop vector. Then Jacobian matrices of the RPM are derived., based on which singularity of the system can be analyzed. Finally., reachable workspace of the RPM is searched by considering corresponding constraint conditions. Results show that workspace of RPM is continuous and there is no empty hole. However., singularities occur in the reachable workspace, which should be avoided in trajectory planning.

Authors 4

1. Yanqin Zhao

   Yangzhou University

   Affiliation as printed

   School of Mechanical Engineering, Yangzhou University,China

2. Wen Ming Zhao

   Yangzhou University

   Affiliation as printed

   School of Mechanical Engineering, Yangzhou University,China

3. Yan Jin

   Queen's University Belfast

   Affiliation as printed

   School of Mechanical and Aerospace Engineering, Queen's University Belfast,United Kingdom

4. Mingkun Wu Aachen Institute of Mechanism Theory

   RWTH Aachen University

   Affiliation as printed

   Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University,Germany