Singularity Analysis of a Reactionless 6-DOF Parallel Mechanism

摘要

In this paper, the synthesis and singularity analysis of a novel reactionless 6-DOF parallel mechanism using four-bar linkages are presented. Three types of actuation schemes of the mechanism are considered. The Jaco-bian matrices of the mechanism are first derived and the six lines defined by the Pluecker vectors associated with the six actuated joints of the architecture are given. The linear dependencies between the corresponding lines are studied using Grassmann line geometry, and the singular configurations are presented using simple geometric rules. The expressions describing the corresponding singularities are obtained and the graphical representations that show the relationship between the singularity loci and the constant-orientation workspace of the mechanism are given.