文档介绍：Mechanism and Machine Theory 44 (2009) 710–725
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Singularity analysis for six practicable 5-DoF fully-symmetrical
parallel manipulators
Si J. Zhu a,1, Zhen Huang b,*, Ming Y. Zhao a,1
a Advanced Equipment Research and Design Center, Shenyang Institute of Automation (CAS), 114 Nanta Street, Dongling District, Shenyang City,
Liaoning 110016, China
b Robotics Research Center, Yanshan University, 438 Hebei Street, Qinhuangdao City, Hebei 066004, China
article info abstract
Article history: Fully-symmetrical 5-DoF 3R2T parallel manipulator may be adopted in motion simulation
Received 8 March 2007 for a spinal column. However, kinematics of these manipulators has not been studied very
Received in revised form 30 October 2007 well because of their short history. Furthermore, the study of kinematics leads inevitably to
Accepted 4 May 2008
the problem of singular configuration. Nowadays, there are six theoretically practicable
Available online 1 July 2008
manipulators among existent nearly seventy manipulators. Singularity for the six manipu-
lators is illustrated with screw theory and Grassmann geometry in this study. The singular-
ity classification defined by Fang and Tsai are adopted for its convenience for
Keywords:
comprehension. In the singular analysis, methods to avoid them are also presented. In
Singularity
5-DoF the rear part of the paper, singular configuration for a prototype 5-RRR(RR) is analyzed
Fully-symmetrical and illustrated as a mechanism example in detail with both symbol expression and numer-
Parallel manipulators ical figure.
Ó 2008 Elsevier Ltd. All rights reserved.
1. Introduction
A fully-symmetrical [1] parallel manipulator (FSPM) is a parallel manipulator with identical limbs, symmetrical assembly
condition and symmetrical actuators. Comparing with an asymmetrical parallel manipulator, a FSPM may have more general
app