Analysis of Constraints Linear Dependence for Parallel Manipulators

In this paper, the structural synthesis method based on the theory of screw for parallel manipulator is briefly reviewed. The platform singularity in the design configuration is mainly discussed. The constraints acted on the platform that may decide the property of platform are analyzed in view that they are linear dependent or not. According to the different result of platform's moving situation caused by linear dependent constraints, we classified them into two types. The one may cause platform singularity and destroy the Tightness of design. On the opposite side, another may form a new over-constrained parallel manipulator. Finally, we present a serial of regulations to guide designers how to rightly use this two type of linear dependent situations in the process of design, therefore, the shortcomings may be avoided and the advantages may be utilized.