Enlarging parallel robot workspace through Type-2 singularity crossing
نویسندگان
چکیده
منابع مشابه
Kinematics, workspace and singularity analysis of a multi-mode parallel robot
A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute) joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its lockable P (pr...
متن کاملWorkspace and Singularity analysis of a Delta like family robot
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using algebraic tools to induce an estimation about the complexity in representing the singularities in the workspace and the joint space. A Gröbner based elimination is ...
متن کاملWorkspace and Singularity Analysis of 3/3-rrrs Parallel Manipulator
The workspace of manipulator can be defined as the operational area of the end effector. Because the moving platform of the parallel manipulator with six degree-of-freedom have six independence degree-offreedoms, it means the workspace has six-dimensional, the six-dimensional workspace is difficult to be directly calculated and unable to do graphic description. For the project of this article-3...
متن کاملdetermination of maximal singularity free zones in the workspace of parallel manipulator
due to the limiting workspace of parallel manipulator and regarding to finding the trajectory planning of singularity free at workspace is difficult, so finding a best solution that can develop a technique to determine the singularity-free zones in the workspace of parallel manipulators is highly important. in this thesis a simple and new technique are presented to determine the maximal singula...
15 صفحه اولWorkspace of a Hybrid (Parallel-Serial) Robot Manipulator
A hybrid type manipulation system is a combination of closed-chain and open-chain mechanisms or it is a sequence of parallel mechanisms. Parallel manipulators have high stiffness and large load capacity, but suffer from a very limited workspace volume. The hybrid manipulators overcome the limited workspace of the parallel manipulators and at the same time they have high stiffness. The determina...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Control Engineering Practice
سال: 2015
ISSN: 0967-0661
DOI: 10.1016/j.conengprac.2015.01.009