Kinematic Singularity Analysis And Verification Of Hexapod Machine Tool

In the present research, the singularity of hexapod machine tool was studied on the basis of the reversekinematics of the mechanism. Determination of Jacobian matrix, led to a complicated and nonlinear equation with 6 variables.To locate singular poses of the mechanism, roots of singularity equation must be calculated. The classical numerical methodscould not yield a reliable solution. A genetic algorithm was, therefore, applied to find the roots of the singularity equation. Theresults were verified by numerous experiments, having been reported in the present paper.

کلیدواژه ها:

Parallel mechanism ، Hexapod ، Singularity ، Genetic Algorithm