Singularity Analysis of a Kinematically Simple Class of 7-jointed Revolute Manipulators
نویسندگان
چکیده
The singularities for a class of kinematically simple 7-jointed revolute manipulators are found. Within the class, unnecessary lengths and 4-jointed spherical groups of joints are avoided, and successive joints are perpendicular or parallel. Four different joint layouts are required to complete this class. The concept of screw reciprocity is used to find the singular (velocity-degenerate) configurations. Reciprocal screw quantities characterizing the lost instantaneous motions are derived. ANALYSE DES SINGULARITÉS POUR UNE CLASSE DE MANIPULATEURS AVEC 7 ARTICULATIONS ROTOÏDES RÉSUMÉ Les singularités pour une classe de manipulateurs avec sept articulations rotoı̈des sont déterminées. Dans cette classe, toute longueur non nécessaire et des groupes de liaison sphérique à quatre articulations sont évités. De plus, les articulations successives sont perpendiculaires ou parallèles. Le concept de réciprocité des visseurs est utilisé pour déterminer les configurations singulières. Les visseurs réciproques qui caractérisent la perte instantanée de mobilité sont dérivés. Transactions of the Canadian Society for Mechanical Engineering, Vol. 34, No. 1, 2010 105
منابع مشابه
Representation of the Singularity Loci of a Special Class of Spherical 3-dof Parallel Manipulator with Revolute Actuators
It is well known that singular configurations are an inherent nature of mechanical systems and have important influences on their properties. Therefore, these special configurations of the system are usually avoided in design and application of mechanisms. For simple 2-DOF and 3-DOF planar manipulators, the singularity loci have been obtained in [1, 2]. For spherical 3DOF parallel manipulators ...
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