SINGULARITY ANALYSIS OF A 3-PRRR KINEMATICALLY REDUNDANT PLANAR PARALLEL MANIPULATOR
نویسندگان
چکیده
منابع مشابه
Singularity analysis of a 3-PRRR kinematically redundant planar parallel manipulator
Finding Singular configurations (singularities) is one of the mandatory steps during the design and control of mechanisms. Because, in these configurations, the instantaneous kinematics is locally undetermined that causes serious problems both to static behavior and to motion control of the mechanism. This paper addresses the problem of determining singularities of a 3-PRRR kinematically redund...
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In this work, the 3-RPRR, a new kinematically redundant planar parallel manipulator with six degrees of freedom, is presented. First the manipulator is introduced and its inverse displacement problem discussed. Then, all types of the singularities of the 3-RPRR manipulator are analysed and demonstrated. Thereafter, the reachable and dexterous workspaces are obtained and compared with those of t...
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ABSTRACT Study of parallel manipulators highlights the importance of identifying singular configurations (singularities) during the design, and of avoiding them during the operation; because in these configurations the instantaneous kinematics of the manipulator becomes indeterminate. This paper focuses on the determination of singular configurations of a kinematically redundant 3-RRRR spherica...
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being solved to determine the corresponding required joint values, 8(t;). A kinematically redundant manipulator can, in general, satisfy an end-effector positioning constraint, x(t;), with an infinite family of joint values satisfying (2). The underlying premise for advocating the use of redundant manipulators for critical applications is that if a joint should fail, then the redundancy of the ...
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ژورنال
عنوان ژورنال: Journal of Mechanical Engineering
سال: 1970
ISSN: 0379-4318
DOI: 10.3329/jme.v41i1.5356