Kinematic Analysis and Singularity Loci of Spatial Four-Degree-of-Freedom Parallel Manipulators Using a Vector Formulation

[+] Author and Article Information
J. Wang, C. M. Gosselin

Département de Génie Méecanique, Université Laval, Québec, Québec, Canada, G1K 7P4

J. Mech. Des 120(4), 555-558 (Dec 01, 1998) (4 pages) doi:10.1115/1.2829314 History: Received April 01, 1996; Revised July 01, 1998; Online December 11, 2007


The kinematic analysis and the determination of the singularity loci of spatial four-degree-of-freedom parallel manipulators with prismatic or revolute actuators are discussed in this article. A new method for the derivation of the velocity equations and the corresponding Jacobian matrices is presented. The numerical determination of the workspace boundaries is then briefly discussed. Finally, the determination of the singularity loci is performed using the velocity equations and examples are given to illustrate the results obtained. Spatial four-degree-of-freedom parallel manipulators can be used in several robotic applications as well as in flight simulators. The determination of their singularity loci is a very important design issue.

Copyright © 1998 by The American Society of Mechanical Engineers
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