Proceedings ArticleDOI
Singularity analysis of mechanisms and robots via a velocity-equation model of the instantaneous kinematics
Dimiter Zlatanov,R.G. Fenton,Beno Benhabib +2 more
- pp 986-991
TLDR
This paper presents a new generalized approach to the singularity analysis of a general mechanism (arbitrary kinematic chain), considered as a non-redundant input-output device with equal number of inputs and outputs, and proposes six types of singular configurations.Abstract:
This paper presents a new generalized approach to the singularity analysis of a general mechanism (arbitrary kinematic chain), considered as a non-redundant input-output device with equal number of inputs and outputs. The instantaneous kinematics of a mechanism is described by means of a velocity equation, explicitly including not only the input and output velocities but also the passive-joint velocities. A precise definition of singularity of a general mechanism is provided. On the basis of the six types of singular configurations introduced in the paper singularity classifications are proposed. >read more
Citations
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Journal ArticleDOI
Jacobian Analysis of Limited-DOF Parallel Manipulators
Sameer A. Joshi,Lung-Wen Tsai +1 more
TL;DR: In this article, the authors presented a methodology for the Jacobian analysis of limited degrees-of-freedom (DOF) parallel manipulators, which is defined as a spatial parallel manipulator with less than six degrees of freedom.
Journal ArticleDOI
Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the orthoglide
Damien Chablat,Philippe Wenger +1 more
TL;DR: The Orthoglide as discussed by the authors is a three-degree-of-freedom translational parallel mechanism designed for machining applications with a regular Cartesian workspace shape, uniform performances in all directions, and good compactness.
Proceedings ArticleDOI
Constraint singularities of parallel mechanisms
TL;DR: The concept of constraint singularity is introduced, a phenomenon occurring in parallel mechanisms with reduced freedoms when the screw system, formed by the constraint wrenches in all legs, loses rank.
Posted Content
Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide
Damien Chablat,Philippe Wenger +1 more
TL;DR: The architecture optimization of a three-degree-of-freedom translational parallel mechanism designed for machining applications is addressed, resulting in the Orthoglide, which features a regular Cartesian workspace shape, uniform performances in all directions, and good compactness.
Book
Parallel Robots: Mechanics and Control
TL;DR: In this paper, the authors present a model of a planar manipulator using loop closure and Jacobian analysis of the Stewart-Gough platform and the Jacobian matrix of a parallel manipulator.
References
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Book
Kinematic geometry of mechanisms
TL;DR: The components of mechanism freedom and structure in mechanism elementary planar and spatial displacements planar algebraic curves infinitesimal planar kinematics planar displacements through three and more locations the four-bar linkage - coupler curves the geometrical capability of planar mechanisms three-dimensional geometry and spatial mechanism some spatial mechanisms line geometry, and spatial mechanisms screw systems screw systems applied to spatial mechanisms body guidance in three dimensions manipulator-arms and other linkageconnections.
Journal ArticleDOI
Singularity analysis of closed-loop kinematic chains
Clément Gosselin,Jorge Angeles +1 more
TL;DR: The different kinds of singularities encountered in closed-loop kinematics chains are analyzed and a general classification of these singularities in three main groups, based on the properties of the Jacobian matrices of the chain, is described.
Journal ArticleDOI
Singular Configurations of Parallel Manipulators and Grassmann Geometry
TL;DR: It is shown that a singular configuration is obtained when the variety spanned by the lines associated to the robot links has a rank less than 6 and a new method based on Grassmann line geometry is proposed, which finds all the well-known singular configurations, and also some new ones.
Book ChapterDOI
Singular configurations of parallel manipulators and Grassmann geometry
TL;DR: A new method based on Grassmann line-geometry is proposed and it is shown that it is possible to find all the well-known singular configurations of parallel manipulators but also new ones.