A novel method for singularity analysis of the 6-SPS parallel mechanisms  

作　　者：CHENG ShiLi WU HongTao WANG ChaoQun YAO Yu ZHU JianYing 

机构地区：[1]College of Mechanical & Electrical Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China [2]College of Engineering, Nanjing Agricultural University, Nanjing 210031, China [3]College of Aerospace Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China

出　　处：《Science China(Technological Sciences)》2011年第5期1220-1227,共8页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China (Grant No. 50375071);the Aviation Science Foundation of China (Grant No. H0608-012);Jiangsu Province Graduate Research and Innovation Program of China (Grant No. CX07B-068z)

摘　　要：Singularity analysis is a basic problem of parallel mechanism, and this problem cannot be avoided in both workspace and motion planning. How to express the singularity locus in an analytical form is the research emphasis for many researchers for a long time. This paper presents a new method for the singularity analysis of the 6-SPS parallel mechanism. The rotation matrix is described by quaternion, and both the rotation matrix and the coordinate vectors have been expanded to four-dimensional forms. Through analyzing the coupling relationship between the position variables and the orientation variables, utilizing properties of the quaternion, eight equivalent equations can be obtained. A new kind of Jacobian matrix is derived from those equations, and the analytical expression of the singularity locus is obtained by calculating the determinant of the new Jacobian matrix. The singularity analysis of parallel mechanisms, whose moving platform actuated by 6 links and the vertices of both the base and the moving platforms has been placed on a circle respectively, can be solved by this analytical expression.

关 键 词：parallel mechanism singularity analysis QUATERNION Jacobian matrix 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TH112[自动化与计算机技术—计算机科学与技术]