Direct Kinematic Singularity Analysis of the Parallel Manipulator MIPS

• Main Authors: Chih-Ming Ma, 馬智明
• Other Authors: Chao-Hwa Liu
• Format: Others
• Language: zh-TW
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/84501430358426180905

碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 93 === It is shown in this study the graphical method in velocity analysis may be used to locate direct singular positions of a limited-DOF parallel manipulator. The three DOF parallel manipulator MIPS is treated for illustration. The 6×6 Jacobian matrix for this manipulator is first derived. Since it is hard to deal with a 6×6 matrix, the Jacobian matrix is only used to verify solutions. In using the graphical method for velocity analysis, the conditions for the moving platform to become movable under zero driving speeds can be obtained. Manipulator configurations satisfying these conditions are direct singular positions. Several direct singular positions are found in this study and all these positions can make the 6×6 Jacobian matrix singular.