Singularity Analysis of A New Spatial Three-DOF Parallel Mechanism

摘要

In this paper, a new spatial 3-DOF parallel manipulator with four identical limbs is presented. The concept of generalized kinematic pair and screw theory are used to investigate the terminal constraints of its connecting legs, containing closed-loop subchain. Considering the geometric characteristics of the manipulator, the singularity criterion of the manipulator is derived based on the dependency of the screw system, and the existing conditions of the singular configuration are determined.