Inverse Kinematics and Singularity Analysis for a 3-DOF Hybrid-Driven Cable-Suspended Parallel Robot-Reference-Cited by-同舟云学术

Inverse Kinematics and Singularity Analysis for a 3-DOF Hybrid-Driven Cable-Suspended Parallel Robot

Published:2012-10-01 Issue:4 Volume:9 Page:133
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Zi Bin¹²,Wu Xia¹,Lin Jun¹,Zhu Zhencai¹

Affiliation:

1. School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou, China

2. The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China

Abstract

This paper addresses the kinematics and graphical representation of the singularity configuration of a hybrid-driven cable-suspended parallel robot (HDCPR) with three translational degrees of freedom (DOFs). Applying the closed-loop vector method and geometric methodology, inverse kinematics of the HDCPR needed for singularity analysis is performed. For the sake of singularity condition calculation within the reachable workspace, the procedure utilizing analytical methodology and gradual search algorithm is presented. Simulation results demonstrate the validity of the kinematics and singularity analysis developed.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.5772/51920

Reference17 articles.

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3. A New Assessment of Singularities of Parallel Kinematic Chains

4. Singular Configurations of Parallel Manipulators and Grassmann Geometry

5. On the infinitesimal motion of a parallel manipulator in singular configurations

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