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Mobility and Singularity Analysis of a Class of 2-DOF Rotational Parallel Mechanisms Using a Visual Graphic Approach

[+] Author Affiliations
J. J. Yu, X. Dong, X. Pei, G. H. Zong

Beihang University, Beijing, China

Xianwen Kong

Heriot-Watt University, Edinburgh, UK

Qunxian Qiu

Zhengzhou Electro-Mechanical Engineering Institute, Zhengzhou, China

Paper No. DETC2011-48274, pp. 1027-1036; 10 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


In this paper, a simple and straightforward visual graphic approach for mobility and singularity analysis of mechanisms is introduced. Although the proposed method is established upon the reciprocal screw system theory, it needs no formula derivation instead knowing about a few simple rules. As a study case, mobility and singularity analysis for a class of two degrees-of-freedom (DOF) rotational parallel mechanisms i.e. well-know Omni-Wrist III with four limbs, and its two derived architectures with three limbs (named T-type and δ-type) is analyzed by the proposed method. As a result, a novel PKM derived from Omni-Wrist III is presented, which has the DOF and kinematics property close to Omni Wrist III.

Copyright © 2011 by ASME



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