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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Bibliographic Details
Published inMATEC Web of Conferences Vol. 31; p. 3008
Main Authors Zhao, Liang, Guo, Jianye, Li, Xiaohong
Format Journal Article Conference Proceeding
LanguageEnglish
Published Les Ulis EDP Sciences 01.01.2015
Subjects
Inverse matrices
Jacobi matrix method
Jacobian matrix
Kinematics
Machine tool industry
Machine tools
Performance indices
Tracking
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Summary: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.
ISSN:2261-236X
2274-7214
2261-236X
DOI:10.1051/matecconf/20153103008