Singularity analysis of some multi-platform mechanisms by decomposition and reciprocality

Michael Slavutin; Yoram Reich

doi:10.1016/j.mechmachtheory.2019.103735

Singularity analysis of some multi-platform mechanisms by decomposition and reciprocality

Michael Slavutin^*, Yoram Reich

^*Corresponding author for this work

School of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

A singularity analysis of multi-platform parallel mechanisms is presented. If the mechanism can be decomposed into minimal mechanisms, the decomposition is performed and its singularity is determined through the singularity of its components. In contrast, if the mechanism is already a minimal mechanism, its singularity is determined through reduction of the original mechanism to a simpler mechanism using the reciprocality relation. The analysis of general two-platform and three-platform minimal mechanisms is presented, while examples of reduction to a simpler mechanism are shown on two actual two-platform mechanisms. It is found that for three-platform mechanisms, there are irreducible cases.

Original language	English
Article number	103735
Journal	Mechanism and Machine Theory
Volume	146
DOIs	https://doi.org/10.1016/j.mechmachtheory.2019.103735
State	Published - Apr 2020

Funding

Funders	Funder number
Ministry of Science, Technology, & Space, Israel and the Russian Foundation for Basic Research
Russian Foundation for Basic Research
Ministry of Science and Technology, Israel
Council on grants of the President of the Russian Federation

Keywords

6/6 Stewart platform
Instantaneous screw axis (ISA)
Parallel mechanisms
Reciprocality
Screw theory
Singularity

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10.1016/j.mechmachtheory.2019.103735

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abstract = "A singularity analysis of multi-platform parallel mechanisms is presented. If the mechanism can be decomposed into minimal mechanisms, the decomposition is performed and its singularity is determined through the singularity of its components. In contrast, if the mechanism is already a minimal mechanism, its singularity is determined through reduction of the original mechanism to a simpler mechanism using the reciprocality relation. The analysis of general two-platform and three-platform minimal mechanisms is presented, while examples of reduction to a simpler mechanism are shown on two actual two-platform mechanisms. It is found that for three-platform mechanisms, there are irreducible cases.",

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AB - A singularity analysis of multi-platform parallel mechanisms is presented. If the mechanism can be decomposed into minimal mechanisms, the decomposition is performed and its singularity is determined through the singularity of its components. In contrast, if the mechanism is already a minimal mechanism, its singularity is determined through reduction of the original mechanism to a simpler mechanism using the reciprocality relation. The analysis of general two-platform and three-platform minimal mechanisms is presented, while examples of reduction to a simpler mechanism are shown on two actual two-platform mechanisms. It is found that for three-platform mechanisms, there are irreducible cases.

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Singularity analysis of some multi-platform mechanisms by decomposition and reciprocality

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