Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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The Singularity Analysis of the Casing Oscillator

케이싱 오실레이터의 특이점 해석

  • 남윤주 (부산대학교 대학원) ;
  • 배형섭 (부산대학교 대학원) ;
  • 박명관 (부산대학교 기계공학부 및 기계기술연구소)
  • Published : 2004.01.01
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Abstract

In this paper, the new casing oscillator, which is a construction machine and which structure is similar to that of a parallel manipulator with redundancy, is proposed. The singularity analysis of this machine is performed by two different methods. First, the singularities are found by the numerical method at configurations where the rank of the Jacobian matrix becomes deficient. The singularities are outside the workspace. To investigate the physical information on these configurations, the singularities are examined by the geometric method at configurations where the casing oscillator cannot resist the external forces and moments applied to the upper platform due to losing static equilibrium. The results of the geometric method are the same as those of the numerical method. It proves that the new casing oscillator is free from the singularity, which causes serious problems to a parallel manipulator.

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References

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