New Parallel Mechanism Enabling Continuous 360-degree Spinning Plus Three-axis Translational M[otions
نویسندگان
چکیده
This paper presents the Eclipse-11, a new six degree-offreedom parallel mechanism, which can be used as a basis for general motion simulators. The Eclipse-I1 is capable of x, y and z-axis translations and a, b and c-axis rotations. In particular, it has the advantage of enabling continuous 360-degree spinning of the platform. The computational procedures for forward and inverse kinematics of the Eclipse-I1 are described. Next, the complete singularity analysis is presented for the two cases of end-effector singularity and actuator singularity. Two additional actuators are added to the original mechanism to eliminate both types of singularity within the workspace.
منابع مشابه
Eclipse-II: A New Parallel Mechanism Enabling Continuous 360-degree Spinning Plus Three-axis Translational Motions
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