Title: Research on kinematics and singularity of a 3-RRR planar hybrid mechanism

Authors: Yuting Du; Ruiqin Li; Shuiqin He; Yaohong Zhao

Addresses: School of Mechanical and Power Engineering, North University of China, No. 3, Xueyuan Road, 030051 Taiyuan, China ' School of Mechanical and Power Engineering, North University of China, No. 3, Xueyuan Road, 030051 Taiyuan, China ' School of Mechanical and Power Engineering, North University of China, No. 3, Xueyuan Road, 030051 Taiyuan, China ' School of Mechanical and Power Engineering, North University of China, No. 3, Xueyuan Road, 030051 Taiyuan, China

Abstract: This paper studies the kinematics and singularity of a 3-RRR planar hybrid mechanism, which consists of serial and parallel kinematic chains. The configuration characteristics of the 3-RRR planar hybrid mechanism are analysed. The kinematics of the 3-RRR planar hybrid mechanism is solved by applying chaos particle swarm optimisation. The forward position and the inverse position are formulated. Moreover, three kinds of singularities are analysed. The assembly configurations of forward singularity, inverse singularity are obtained, respectively. The results play an important role in practical application for the 3-RRR hybrid mechanism.

Keywords: chaos PSO; particle swarm optimisation; forward position; inverse position; 3-RRR hybrid mechanisms; planar hybrid mechanisms; singularities; kinematics; assembly configurations.

DOI: 10.1504/IJMRS.2016.10001893

International Journal of Mechanisms and Robotic Systems, 2016 Vol.3 No.2/3, pp.211 - 221

Received: 15 Sep 2015
Accepted: 17 Mar 2016

Published online: 14 Dec 2016 *

Full-text access for editors Access for subscribers Purchase this article Comment on this article