Constraints Analysis in the Motion Control Process of Parallel Robots

In this paper, how to analyze the constraints in the motion control process is presented. The idea of platform singularity in the design configuration is presented. The constraints acting on the platform provided by all limbs are analyzed in view of their linear association relationship to judge the platform´s moving characteristic. According to the different result of platform´s moving situation caused by constraints´ linear association, we classify them into two types. The one may cause platform singularity in the design configuration and destroy the Tightness of the design. On the opposite side, linear associated constraints may form a new over-constrained parallel robot. Finally, we present a serial of regulations to guide designers how to rightly analyze constraints in the motion control process, based on the analysis, the right control algorithm may be designed respectively.