Singularity Analysis and Research on the Mechanism Workspace with Three Degrees of Freedom

    Received 29 July 2024; accepted 29 November 2024; published 24 January 2025


    Author(s): Misyurin S. Y., Nosova N. Y., Kreinin G. V., Rybak L. A.

    This article discusses the mechanism of parallel structure, which includes hinged parallelograms. These mechanisms have a certain peculiarity when composing kinematics equations, consisting in the fact that some of the equations have a linear form. This simplifies the system of coupling equations as a whole. By solving direct and inverse kinematics, we will determine the size and shape of the working area. A method was chosen by solving the inverse kinematics to determine the workspace. The size and shape of the working area of the mechanism under consideration with three degrees of freedom are experimentally determined under given initial conditions. The presence of a large working area allows us to recommend this mechanism for use in various branches of robotics, medicine, simulators, etc. The Jacobian matrix of the coupling equations of the mechanism is written out to determine the singularities.
    Keywords: parallel mechanism, singularity, hinged parallelogram, coupling equations, Jacobian matrix
    Citation: Misyurin S. Y., Nosova N. Y., Kreinin G. V., Rybak L. A.,  Singularity Analysis and Research on the Mechanism Workspace with Three Degrees of Freedom, Rus. J. Nonlin. Dyn., 2025 https://doi.org/10.20537/nd250102
    DOI:10.20537/nd250102


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