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Singularity Analysis of a Novel 3SPS+PS Bionic Parallel Processing Platform Based on Grassmann Line Geometry
Gu Wei; Cheng Gang; Wan Yong-jian
Volume7655
Pages76550Z (10 pp.)
2010
Language英语
Subtype会议论文
AbstractFor 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.; 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.
Conference NameProceedings of the SPIE - The International Society for Optical Engineering
Conference Date2010
Document Type会议论文
Identifierhttp://ir.ioe.ac.cn/handle/181551/7571
Collection先光中心
Corresponding AuthorGu Wei
Affiliation中国科学院光电技术研究所
Recommended Citation
GB/T 7714
Gu Wei,Cheng Gang,Wan Yong-jian. Singularity Analysis of a Novel 3SPS+PS Bionic Parallel Processing Platform Based on Grassmann Line Geometry[C],2010:76550Z (10 pp.).
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