Kinematics And Singularity Analysis Of A 3-Dof Parallel Kinematic Machine

In this paper, a 3-DOF parallel mechanism that can be used for 3-axis machine tool is introduced. The geometric structure is presented first. Then the inverse kinematic and forward kinematic problems for this structure are solved, the results are validated as well. Screw theory is applied in the paper in order to conduct the singularity analysis. The rational of using screw theory is explained. A 6x6 Jacobian matrix which provides information about architecture and constraint singularities is obtained with screw theory, and the results are verified using a particular singularity position of the 3-DOF structure. The forward kinematics will be further used in real-time control of the 3-axis machine tool.