Instantaneous center of rotation and singularities of planar parallel manipulators
نویسنده
چکیده
With regard to planar parallel manipulators, a general classification of singularities into three groups is given. The classification scheme relies on the properties of instantaneous centers of rotation. This method is very fast and can easily be applied to the manipulators under study. The method is applied to a planar three-degrees-of-freedom parallel manipulator and all its singular configurations are found.
منابع مشابه
A Study of the Instantaneous Centers of Rotation in Singularities of 3-dof Fully Parallel Planar Manipulators
ABSTRACT Finding singular configurations (singularities) of manipulators is obviously important, because these configurations are the ones where the instantaneous kinematics becomes indeterminate. In this paper, singularities of a three degree-of-freedom (DOF) fully parallel planar manipulator are analyzed with the aid of two Jacobian matrices which are expressed through instantaneous centers o...
متن کاملSingularity 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...
متن کاملDetermination of Singularities in Delta-Like Manipulators
The DELTA robot and the manipulators derived from the DELTA robot are a relevant class of translational manipulators. In this paper, the mobility analysis of these parallel translational manipulators is developed in full. The manufacturing and mounting conditions that guarantee the pure translation of the platform are analytically derived. Moreover, it is demonstrated that these manipulators ca...
متن کاملGeneration of Architecturally Singular 6-SPS Parallel Manipulators with Linearly Related Planar Platforms
An architecturally singular parallel manipulator is a parallel manipulator with architectural singularities spanning the whole workspace. It should be abandoned in the design process. This paper deals with the generation of architecturally singular 6-SPS parallel manipulators with linearly related planar platforms. The forward displacement analysis of the 6-SPS parallel manipulator with linearl...
متن کاملComparison of 3-PP̲R parallel planar manipulators based on their sensitivity to joint clearances
In this paper, 3-PPR planar parallel manipulators with ∆or U-shape base are compared with respect to their workspace size and kinematic sensitivity to joint clearances. First, the singularities and workspace of a general 3-PPR planar parallel manipulator are analyzed. Then, an error prediction model applicable to both serial and parallel manipulators is developed. As a result, two nonconvex qua...
متن کامل