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Title: | Geometric algebra approach to analyzing the singularity of six-DOF parallel mechanism | Authors: | Cheng, S Ji, P |
Issue Date: | 2019 | Source: | Journal of advanced mechanical design, systems and manufacturing, 2019, v. 13, no. 4, JAMDSM0076 | Abstract: | Singular configurations must be avoided in the practical manipulation of parallel mechanism. This paper presents an approach of singularities analysis of six degrees of freedom (DOF) parallel mechanism applying geometric algebra. Twists of all passive joints in each limb are described in geometric algebra while all the active joints are locked. And wrenches produced from each limb and acting on the moving platform are derived from the calculations of the outer product and its dual of the corresponding twists. The singular condition of parallel mechanism depends on whether the wrenches acting on the moving platform failed to constrain all the motions, which can be accomplished by the outer product with its duality followed. Two six-DOF parallel mechanisms 6-UPS and 6-PUS are introduced to verify the approach proposed in this paper. The results indicate that geometric algebra can also be used for singularity analysis of six-DOF parallel mechanism. | Keywords: | 6-PUS 6-UPS Singularity analysis Duality Geometric algebra Parallel mechanism Screw |
Publisher: | Japan Society of Mechanical Engineers, Nihon Kikai Gakkai | Journal: | Journal of advanced mechanical design, systems and manufacturing | ISSN: | 1881-3054 | EISSN: | 1881-3054 | DOI: | 10.1299/jamdsm.2019jamdsm0076 | Rights: | © 2019 The Japan Society of Mechanical Engineers The following publication Cheng, S., & Ji, P. (2019). Geometric algebra approach to analyzing the singularity of six-DOF parallel mechanism. Journal of Advanced Mechanical Design, Systems, and Manufacturing, 13(4), JAMDSM0076 is available at https://doi.org/10.1299/jamdsm.2019jamdsm0076. |
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Ji_Geometric_Algebra_Approach.pdf | Pre-Published version | 1.01 MB | Adobe PDF | View/Open |
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