Definition of linearly dependent screws in singularity configurations of parallel mechanisms and experimental based on computing of the system

This paper examined the parallel mechanisms such as Stewart-Gough platform, for which an algorithm for determining the groups of linearly dependent screws that arise in singular condition. The algorithms to determine the model of mechanism take into account singularities configuration based on screw theory are proposed, the criterion of closeness to singularity is determined, the basic impact modeling results of parallel mechanisms. The research results on issues of singular condition of the parallel mechanism, which uses screw theory and Plücker coordinates. The experimental based on computation and determining the parameters of kinematic, dynamics and simulation for the control parallel mechanisms are considered. Speaking of which resolved the relations velocity, acceleration between the moving platform with the legs in the application; and relationship between external forces acting on the moving platform with forces on the legs of the system.