Higher Order Kinematics and Singularity Analysis of a Schönflies-Parallel Manipulator using Screw Theory Methodology

This paper introduces a Schönflies parallel mechanism that incorporates a unique rotational capability around the horizontal axis. The main contributions of this study lie in the analytical solutions for the kinematics and singularity analysis of this specific mechanism. The mechanism's inverse kinematics encompasses velocity, position, and acceleration. To achieve this, we employ the efficient algebraic framework of screw theory. Additionally, we conduct a comprehensive investigation of the mechanism's workspace, considering both geometrical and singularity constraints. By utilizing MATLAB programming, we perform a rigorous workspace analysis, plotting the boundaries that account for physical and kinematic limitations. Furthermore, we evaluate the workspace and analyze the kinematics using the SolidWorks environment. The comparison between the results obtained from the CAD and analytical models confirms the mechanism's reliability and accuracy. Our findings showcase the exceptional flexibility and singularity-free workspace of the proposed mechanism, making it a highly suitable and dependable choice for various industrial applications. Over all, this paper presents an innovative and promising solution that enables precise motion, offering potential benefits across multiple industrial fields. Additionally, the validation of the analytical method through comparison with SolidWorks simulation enhances the credibility of the findings. This research not only benefits the understanding of the 3T1R mechanism but also offers a dependable, validated method for future research in modeling and simulating various manipulators.