Singularity analysis of a novel 3SPS+PS bionic parallel processing platform based on Grassmann line geometry

Wei Gu; Gang Cheng; Yongjian Wan

doi:10.1117/12.866803

6 October 2010 Singularity analysis of a novel 3SPS+PS bionic parallel processing platform based on Grassmann line geometry

Wei Gu, Gang Cheng, Yongjian Wan

Author Affiliations +

Proceedings Volume 7655, 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Advanced Optical Manufacturing Technologies; 76550Z (2010) https://doi.org/10.1117/12.866803
Event: 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies, 2010, Dalian, China

Abstract

For a novel 3SPS+PS parallel bionic processing platform with 4-DOF (degree of freedom) simulating the complex processing path including optical processing and machining, the kinematic model based on Rodrigues parameters is established. The singular configurations of the processing platform are obtained from kinematic poses and geometry essence by means of Grassmann line geometry. The numerical simulations show the motion curves and surfaces of the singular configurations with lower linear variety of rank 1 to 3. Then the distribution characteristics of the singular trajectories are studied. It provides an analytical basis for workspace construction, singularity avoidance, and size optimization of the parallel bionic processing platform, as well as the other parallel manipulators.

Citation Download Citation

Wei Gu, Gang Cheng, and Yongjian Wan "Singularity analysis of a novel 3SPS+PS bionic parallel processing platform based on Grassmann line geometry", Proc. SPIE 7655, 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Advanced Optical Manufacturing Technologies, 76550Z (6 October 2010); https://doi.org/10.1117/12.866803

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