Title :
The analysis on the singularity of a 3-UPS Parallel Machine Tool
Author :
Jianye Guo ; Yanli Zhang ; Jiashun Shi
Author_Institution :
Sch. of Mech. & Electr. Eng., Shenyang Aerosp. Univ., Shenyang, China
Abstract :
This paper takes a 3-UPS Parallel Machine Tool (PMT) as the object to study, and it mainly analyzed the singularity of machine in the workspace. Firstly the kinematics of this machine is analyzed on the basis of introducing the structure of PMT, the kinematics equation of PMT is established, and further the Jacobian matrix of PMT is obtained. Then the workspace of PMT is carried on the solution and the analysis. Finally the degree of operability is taken as the measure index to analyze the singularity of PMT within the workspace, and the results show that this PMT does not have singular position. The analysis results of this paper have laid the theoretical foundation for the position control of this PMT.
Keywords :
Jacobian matrices; kinematics; machine tools; position control; 3-UPS parallel machine tool; Jacobian matrix; kinematics equation; machine kinematic analysis; machine singularity; measure index; operability degree; position control; workspace; Educational institutions; Equations; Jacobian matrices; Joints; Kinematics; Machine tools; Parallel machines; Parallel Machine Tool (PMT); degree of operability; kinematics; singularity; workspace;
Conference_Titel :
Electronic and Mechanical Engineering and Information Technology (EMEIT), 2011 International Conference on
Conference_Location :
Harbin, Heilongjiang, China
Print_ISBN :
978-1-61284-087-1
DOI :
10.1109/EMEIT.2011.6023139
