Singularity Analysis of a three translational degrees of freedom Parallel Mechanism

摘要

The singularity of a new 3-DOF parallel mechanism was analyzed. The position equation of the mechanism was gotten by the inverse kinematics solution. The velocity equation of the machine was gotten by the derivation of the position equation, and then got the Jacobian matrix, and the singularity conditions were analyzed. The singularity analysis will lay the trajectory planning of the mechanism.