Forward Kinematics Solution Distribution and Analytic Singularity-Free Workspace of Linear-Actuated Symmetrical Spherical Parallel Manipulators

This paper presents a new kinematics model for linear-actuated symmetrical spherical parallel manipulators (LASSPMs) which are commonly used considering their symmetrical kinematics and dynamics properties. The model has significant advantages in solving the forward kinematic equations, and in analytically obtaining singularity loci and the singularity-free workspace. The Cayley formula, including the three Rodriguez–Hamilton parameters from a general rotation matrix, is provided and used in describing the rotation motion and geometric constraints of LASSPMs. Analytical solutions of the forward kinematic equations are obtained. Then singularity loci are derived, and represented in a new coordinate system with the three Rodriguez–Hamilton parameters assigned in three perpendicular directions. Limb-actuation singularity loci are illustrated and forward kinematics (FK) solution distribution in the singularity-free zones is discussed. Based on this analysis, unique forward kinematic solutions of LASSPMs can be determined. By using Cayley formula, analytical workspace boundaries are expressed, based on a given mechanism structure and input actuation limits. The singularity-free workspace is demonstrated in the proposed coordinate system. The work gives a systematic method in modeling kinematics, singularity and workspace analysis which provides new optimization design index and a simpler kinematics model for dynamics and control of LASSPMs.

Unified Kinematics Analysis and Analytic Singularity-Free Workspace of a Metamorphic Parallel Mechanism With Controllable Rotation Center

This paper presents a metamorphic parallel mechanism with controllable rotation center in its pure rotation topology. Based on reconfiguration of a reconfigurable Hooke (rT) joint, the rotational center of the mechanism can be altered along the central line perpendicular to the base plane. A unified Dixon resultant based method is proposed to solve the forward kinematics analytically by covering all configurations with variable rotation centers while the rotation motion is expressed using Cayley formula. Then singularity loci are derived and represented in a new coordinate system with the three Rodrigues-Hamilton parameters assigned in three perpendicular directions. Limb-actuation singularity loci are also obtained from row vectors of the Jacobian matrix. By using Cayley formula, analytical workspace boundaries are expressed by including the mechanism structure parameters and input actuation limits. Finally, singularity-free workspace of configurations with variable rotation centers is demonstrated in the proposed coordinate system.

Universal polynomials for singular curves on surfaces

Let $\def \xmlpi #1{}\def \mathsfbi #1{\boldsymbol {\mathsf {#1}}}\let \le =\leqslant \let \leq =\leqslant \let \ge =\geqslant \let \geq =\geqslant \def \Pr {\mathit {Pr}}\def \Fr {\mathit {Fr}}\def \Rey {\mathit {Re}}S$ be a complex smooth projective surface and $L$ be a line bundle on $S$. For any given collection of isolated topological or analytic singularity types, we show the number of curves in the linear system $|L|$ with prescribed singularities is a universal polynomial of Chern numbers of $L$ and $S$, assuming $L$ is sufficiently ample. More generally, we show for vector bundles of any rank and smooth varieties of any dimension, similar universal polynomials also exist and equal the number of singular subvarieties cutting out by sections of the vector bundle. This work is a generalization of Göttsche’s conjecture.

Singularity Analysis of 6-PUS Vertical Parallel Mechanism

Different from the general 6-SPS Stewart platform, 6-PUS parallel mechanism is a kind of fully parallel mechanism whose actuators are all fixed at the frame. The advantages of this mechanism are light movable mass, small inertia and good dynamic characteristics. This paper is focused on the singularity analysis of the 6-PUS parallel mechanism. Based on the Jacobian matrix which is derived from the kinematical equation, the analytic singularity locus equations are obtained and the three types singularities of the parallel mechanism are analyzed. Moreover, the position-singularity of the mechanism is discussed through some specific examples.

The Foundation of the Sommerfeld Transformation

The analysis of the one-dimensional journal bearing leads to an interesting integral that is continuous but has an analytic singularity involving the inverse tangent at π/2. This difficulty was resolved by a clever and non-intuitive transformation attributed to Sommerfeld. In this technical brief we show that the transformation has its origin in the geometry of the ellipse and Kepler’s equation that is based upon his observations of the planets in the Solar system. The derivation of the transformation is a problem or exercise in Sommerfeld’s monograph, Mechanics. The transformation is the relation between the two angles that characterize the ellipse, the closed orbit of a body in a central inverse square force field. The angle measured about the focus is the true anomaly (angle) and the angle measured about the center is the eccentric anomaly (angle). We establish the analogy between the orbital radius in terms of the eccentric anomaly and the film thickness of the journal bearing in terms of its central angle.

Algebraic singularities have maximal reductive automorphism groups

Let X = On/i be an analytic singularity where ṫ is an ideal of the C-algebra On of germs of analytic functions on (Cn, 0). Let denote the maximal ideal of X and A = Aut X its group of automorphisms. An abstract subgroup equipped with the structure of an algebraic group is called algebraic subgroup of A if the natural representations of G on all “higher cotangent spaces” are rational. Let π be the representation of A on the first cotangent space and A1 = π(A).