Analysis of the singular configuration of 3-UPU parallel mechanism with pure spherical rotations

作者：Luo Yougao^*; Zheng Xiangzhou; Bin Hongzan

来源：Journal of Huazhong University of Science and Technology (Natural Science Edition), 2007, 35(3): 74-76.

• Deep sea mining
• Parallel mechanism
• Singular configuration
• Spherical 3 UPU

Jacobian matrix is derived for spherical 3-UPU mechanism by unit quaternion transformation. According to geometry of this mechanism, three criteria are put forward to identify singular configuration of the 3-UPU parallel mechanism. When three lines along limbs are intersected to one point, which is called initial configuration (IC), or when platform orientation is obtained by rotating platform from IC around axis parallel to one of edges of base triangle, the configuration of the 3-UPU is singular. Or when platform orientation is obtained by rotating platform around axis parallel to the base plane, the configuration is liable to singular on a given threshold precision.

• 出版日期2007
• 单位华中科技大学