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

Michael Slavutin, Yoram Reich

Research output: Contribution to journalArticlepeer-review

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 languageEnglish
Article number103735
JournalMechanism and Machine Theory
Volume146
DOIs
StatePublished - Apr 2020

Keywords

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

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