Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated Nacelle
نویسندگان
چکیده
This paper presents a generic approach to analyze the singularity of robots with an articulated nacelle like the H4 robot. Using screw theory, the concept of equivalent twist graph is introduced in order to characterize the constraint wrenches and the actuation wrenches applied to the moving platform. Using Grassmann-Cayley Algebra, the geometric conditions associated with the dependency of six Plücker vectors of finite and infinite lines in the projective space P3 are reformulated in the superbracket decomposition in order to characterize geometrically the parallel singularities of the robot.
منابع مشابه
Singularity analysis of the H4 robot using Grassmann-Cayley algebra
This paper extends a recently proposed singularity analysis method to lower-mobility parallel manipulators having an articulated nacelle. Using screw theory, a twist graph is introduced in order to simplify the constraint analysis of such manipulators. Then, a wrench graph is obtained in order to represent some points at infinity on the Plücker lines of the Jacobian matrix. Using GrassmannCayle...
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