Design and Analysis of Kinematic Decoupling Parallel Mechanism with Redundant Actuation

摘要

This paper studies a kind of redundant actuation parallel mechanism with orthogonal limbs, which are laid along three directions. Type synthesis of this parallel mechanism is made to explain that it has six degree of freedoms, which means that the moving platform can move along and rotate around three orthogonal axes.Kinematic model of this mechanism is constructed by vector analysis method and the according expressions are given in an explicit and closed form. Based on the kinematic analysis, a series of singular surfaces are given and some concrete singularities are presented according to these singular surfaces. Results are that there exist singularities along fringe of the workspace and they are inevitable for limit of the structure characteristics. The above analysis results make a foundation for the track programming of actual control system design.