The Analysis on the Singularity of a 2UPS-UPR Parallel Machine Tool

The Analysis on the Singularity of a 2UPS-UPR Parallel Machine Tool

This paper deals with the analysis on the singularity of a 2UPS-UPR parallel machine tool newly designed by Northeastern University. On the basis of establishing kinematics equations, the Jacobian matrix of the parallel machine tool and the shape of the parallel machine tool workspace are obtained,...

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Main Authors: Zhao Liang, Guo Jianye, Li Xiaohong
Format: Article
Language:English
Published: EDP Sciences 2015-01-01
Series:MATEC Web of Conferences
Online Access:http://dx.doi.org/10.1051/matecconf/20153103008
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spelling doaj-bdd04e66522f400d92b920601bdddc852021-02-02T07:33:41ZengEDP SciencesMATEC Web of Conferences2261-236X2015-01-01310300810.1051/matecconf/20153103008matecconf_icmee2015_03008The Analysis on the Singularity of a 2UPS-UPR Parallel Machine ToolZhao Liang0Guo Jianye1Li Xiaohong2Liaoning Institute of Science and TechnologyShenyang Aerospace UniversityLiaoning Institute of Science and TechnologyThis paper deals with the analysis on the singularity of a 2UPS-UPR parallel machine tool newly designed by Northeastern University. On the basis of establishing kinematics equations, the Jacobian matrix of the parallel machine tool and the shape of the parallel machine tool workspace are obtained, the degree of operability which is the determinant value of the product of Jacobian matrix and its inverse matrix is taken as the performance index of the singularity. With MATLAB software, the change situation about the degree of operability within the workspace is simulated. The analysis results of this paper have laid the theoretical foundation for the position control and processing track planning of the parallel machine tool.http://dx.doi.org/10.1051/matecconf/20153103008
collection DOAJ
language English
format Article
sources DOAJ
author Zhao Liang
Guo Jianye
Li Xiaohong
spellingShingle Zhao Liang
Guo Jianye
Li Xiaohong
The Analysis on the Singularity of a 2UPS-UPR Parallel Machine Tool
MATEC Web of Conferences
author_facet Zhao Liang
Guo Jianye
Li Xiaohong
author_sort Zhao Liang
title The Analysis on the Singularity of a 2UPS-UPR Parallel Machine Tool
title_short The Analysis on the Singularity of a 2UPS-UPR Parallel Machine Tool
title_full The Analysis on the Singularity of a 2UPS-UPR Parallel Machine Tool
title_fullStr The Analysis on the Singularity of a 2UPS-UPR Parallel Machine Tool
title_full_unstemmed The Analysis on the Singularity of a 2UPS-UPR Parallel Machine Tool
title_sort analysis on the singularity of a 2ups-upr parallel machine tool
publisher EDP Sciences
series MATEC Web of Conferences
issn 2261-236X
publishDate 2015-01-01
description This paper deals with the analysis on the singularity of a 2UPS-UPR parallel machine tool newly designed by Northeastern University. On the basis of establishing kinematics equations, the Jacobian matrix of the parallel machine tool and the shape of the parallel machine tool workspace are obtained, the degree of operability which is the determinant value of the product of Jacobian matrix and its inverse matrix is taken as the performance index of the singularity. With MATLAB software, the change situation about the degree of operability within the workspace is simulated. The analysis results of this paper have laid the theoretical foundation for the position control and processing track planning of the parallel machine tool.
url http://dx.doi.org/10.1051/matecconf/20153103008
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AT guojianye theanalysisonthesingularityofa2upsuprparallelmachinetool
AT lixiaohong theanalysisonthesingularityofa2upsuprparallelmachinetool
AT zhaoliang analysisonthesingularityofa2upsuprparallelmachinetool
AT guojianye analysisonthesingularityofa2upsuprparallelmachinetool
AT lixiaohong analysisonthesingularityofa2upsuprparallelmachinetool
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