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Kinematics and Singularity Analysis of a 2R2T Parallel Mechanism

[+] Author Affiliations
Wei Ye, Yuefa Fang, Sheng Guo

Beijing Jiaotong University, Beijing, China

Paper No. DETC2015-46394, pp. V05CT08A035; 6 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME


In this paper, we focus our attention on a parallel mechanism with four identical limbs and two moving platforms that are connected by a prismatic joint. Firstly, the degrees of freedom analysis of the mechanism is conducted based on the displacement group theory. Both the two moving platforms have the ability to perform two rotational and two translational motions (2R2T). Secondly, forward and inverse kinematics of the proposed mechanism is analyzed, closed-from solutions are obtained for the forward kinematics. Finally, three types of singularity, i.e. limb singularity, actuation singularity and platform singularity of the 2R2T parallel mechanism are analyzed. No limb singularity and platform singularity is found and the actuation singularity can be avoided in the design stage. The proposed mechanism has the potential to be used in industry and medical applications.

Copyright © 2015 by ASME



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