Singular Kinetics Analysis of Cartesian Serial-Parallel Manipulator

Abstract

New type of universal Cartesian serial-parallel manipulator in singular configuration, kinetics equations and Euler’s equations constructed, complete analysis of each jointed points of the moving platform carried out, inverse kinetics solution can be obtained with the given parameters, which include the position and orientation of the manipulator, applied force on the output shaft, parameters of motion of output shaft and connecting bar and sliding block, computer programming adopted to get the valid data and its figure, thus found the perfect show of redundant driving structure on this special mechanism.