Singularity Analysis of the 3-DoF (P-4R) Parallel Mechanisms by Screw Theory

摘要

Structure singularities and actuated joints configuration singularities analysis presented for a new family of 3-DoF P-4R parallel mechannisms, using the screw theory, reciprocal screw and linear geometric theory. Geometric conditions used as guildlines for the design of parallel mechanisms that can be avoid architecture singularities. The effectiveness method used to analyze the same special parallel mechanisms. Based on these analysis theory, numerical examples with certainly displacement of singularity are provided.