The analysis on the singularity of a 3-UPS Parallel Machine Tool

This paper takes a 3-UPS Parallel Machine Tool (PMT) as the object to study, and it mainly analyzed the singularity of machine in the workspace. Firstly the kinematics of this machine is analyzed on the basis of introducing the structure of PMT, the kinematics equation of PMT is established, and further the Jacobian matrix of PMT is obtained. Then the workspace of PMT is carried on the solution and the analysis. Finally the degree of operability is taken as the measure index to analyze the singularity of PMT within the workspace, and the results show that this PMT does not have singular position. The analysis results of this paper have laid the theoretical foundation for the position control of this PMT.