Full Content is available to subscribers

Subscribe/Learn More  >

Improving Motion Stability of the Plane 3-RPR Parallel Manipulator at Singular Configuration

[+] Author Affiliations
Yu-Tong Li, Yu-Xin Wang

China University of Petroleum, Huangdao, Qingdao, China

Paper No. IMECE2018-86218, pp. V04AT06A011; 8 pages
  • ASME 2018 International Mechanical Engineering Congress and Exposition
  • Volume 4A: Dynamics, Vibration, and Control
  • Pittsburgh, Pennsylvania, USA, November 9–15, 2018
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5203-3
  • Copyright © 2018 by ASME


Kinematic parameters have significant influences on the motion stability of parallel manipulators at singular configureations. Taking the plane 3-RPR parallel manipulator as an example, the motion stability at different types of singular configurations corresponding to the angular speed and velocity of the movable platform are investigated. At first, the second order of uncoupled dynamics equation for the 3-RPR parallel manipulator is established with the aid of the second class Lagrange approach. According to the Lyapunov first approximate stability criterion, the approximate conditions for the 3-RPR parallel manipulator with a stabile motion at singular configurations are determined based on the Gerschgorin circle theorem. Next, the exact Hurwitz criterion is utilized to study the motion stability and the load capability of the manipulator corresponding to the angular speed and velocity of the movable platform, as well as the directions of the external forces at two kinds of singular configurations: with a gained rotation-type DOF, and with a gained translation-type DOF, respectively. The results show that increasing both the angular speed and the velocity of the mass center of the movable platform can efficiently improve the motion stability of the 3-RPR parallel manipulator at singular configurations.

Copyright © 2018 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In