Proceedings of the 2010 International Conference on Mechanical, Industrial, and Manufacturing Technologies (MIMT 2010)
40 Singularity Analysis for 5-5R Parallel Manipulator Based on Screw Theory
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The screw theory is adopted for the kinematic performance analysis of a fully-symmetrical 5-5R parallel mechanism firstly. Then the limb singularity analysis by using reciprocal screw theory is presented. Two cases of limb singular configurations are found for this parallel mechanism. When three parallel axes of rotating joints are coplanar or the plane determined by two intersecting axes is perpendicular to the base plane, the limb singular configurations will occur. The determination of singular configurations is critical to understanding a parallel manipulator's kinematics and can be important in the implementation of controller for manipulator.