Singularity loci research on high-speed travelling type of double four-rod spatial parallel mechanism

Based on the author’s research results on high-speed travelling type of double four-rod spatial parallel mechanism in new type virtual axis machine tools with combined architecture, this paper lays emphasis on the problems of singularity analysis and singularity loci calculation of such mechanism. In theory, it has found out three kinds of singularity loci of the mechanism by utilizing an identification matrix that is constructed on the conception of screw, and revealed the relationship between the structural parameter b and the singularity loci, thus laid a theoretical foundation for optimizing the parameter of the mechanism. In aspect of application, by applying the result in the design of new five-coordinate virtual axis machine tool with combined architecture, it has effectively solved the affection of singularity, greatly increased the working space of the machine tool and achieved good effect.