2011•Applied Mechanics and MaterialsOpen access

Kinematic and Singularity Analysis of a Novel 4-DOF Parallel Manipulator

Meng Guan, Yi Song, Tao Sun, Gang Dong

Abstract

This paper presents a novel 4-DOF (Degree of Freedom) parallel manipulator called 2-PSS&(2-PRR)R manipulator. Firstly, the architecture of this manipulator is described and the mobility is analyzed via screw theory. Secondly, the inverse kinematic analysis including position analysis and velocity analysis is performed. Finally, the Jacobian matrix is obtained through velocity analysis, and then three kinds of singularity configurations are observed in virtue of the Jacobian matrix. This paper lays the foundation for further research of this manipulator.

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Available abstract

Key concepts: Jacobian matrix and determinant, Kinematics, Parallel manipulator, Singularity, Screw theory, Control theory (sociology), Inverse kinematics, Manipulator (device)