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- W2385279949 abstract "Singularity has bad effects on manipulator′s working performance.Taking the parallel mechanism 2UPS-RPU as study object,this paper analyzed the displacement and velocity of the mechanism by vector mehtod and virtual work principle to get inverse kinematics and full Jacobian matrix.Through the analysis of the Jacobian matrix order,the conditions of the singular configuration and the relationship between structural parameters and singularity were found out,and the methods of eliminating the singularity were put forward.The research result must have an important meaning on the designing and using of the parallel mechanism 2UPS-RPU.And this study method is versatile to all the parallel mechanism." @default.
- W2385279949 created "2016-06-24" @default.
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- W2385279949 date "2012-01-01" @default.
- W2385279949 modified "2023-09-23" @default.
- W2385279949 title "Singularity Analysis of Parallel Mechanism 2UPS-RPU" @default.
- W2385279949 hasPublicationYear "2012" @default.
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