Singularity, dynamics and kinetics analysis of a 5-DOF parallel robot using screw theory

This paper examines a parallel robot with 5 degrees of freedom with a linear platform. Parallel robots, have a restricted workspace, and singularities make the workspace even more confined. So the behavior of the robot in the working place is examined by focusing on kinematics and dynamics. To do kinematic analysis, the constraint equations are developed using the geometric relations, and the speed and acceleration equations of the robot are derived. The jacobian matrix is then calculated using the screw theory, and the state of the singularities in the workspace is determined based on the jacobian matrix. Considering the singularity and physical and geometric limitations, an algorithm for calculating the workspace is presented. In addition, the kinematic index of dexterity is investigated using the jacobian matrix as a measure of the robot's closeness to the singular configurations. The results of solving kinematic and dynamic problems are validated with the output of the simulation in MATLAB software.