The Analysis on the Singularity of a 2UPS-UPR Parallel Machine Tool
1 Liaoning Institute of Science and Technology, Benxi, China, 117004
2 Shenyang Aerospace University, Shenyang, China, 110136
a Corresponding author: email@example.com
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.
© Owned by the authors, published by EDP Sciences, 2015
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