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Proceedings Paper

Singularity analysis of a novel 3SPS+PS bionic parallel processing platform based on Grassmann line geometry
Author(s): Wei Gu; Gang Cheng; Yongjian Wan
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Paper Abstract

For a novel 3SPS+PS parallel bionic processing platform with 4-DOF (degree of freedom) simulating the complex processing path including optical processing and machining, the kinematic model based on Rodrigues parameters is established. The singular configurations of the processing platform are obtained from kinematic poses and geometry essence by means of Grassmann line geometry. The numerical simulations show the motion curves and surfaces of the singular configurations with lower linear variety of rank 1 to 3. Then the distribution characteristics of the singular trajectories are studied. It provides an analytical basis for workspace construction, singularity avoidance, and size optimization of the parallel bionic processing platform, as well as the other parallel manipulators.

Paper Details

Date Published: 7 October 2010
PDF: 10 pages
Proc. SPIE 7655, 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Advanced Optical Manufacturing Technologies, 76550Z (7 October 2010); doi: 10.1117/12.866803
Show Author Affiliations
Wei Gu, China Univ. of Mining and Technology (China)
Gang Cheng, China Univ. of Mining and Technology (China)
Yongjian Wan, The Institute of Optics and Electronics (China)


Published in SPIE Proceedings Vol. 7655:
5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Advanced Optical Manufacturing Technologies
Li Yang; Yoshiharu Namba; David D. Walker; Shengyi Li, Editor(s)

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