A Unifying Framework for Classification and Interpretation of Mechanism Singularities-Reference-Cited by-同舟云学术

A Unifying Framework for Classification and Interpretation of Mechanism Singularities

Published:1995-12-01 Issue:4 Volume:117 Page:566-572
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Zlatanov D.¹,Fenton R. G.¹,Benhabib B.¹

Affiliation:

1. Computer Integrated Manufacturing Laboratory, Department of Mechanical Engineering, University of Toronto, 5 King’s College Road, Toronto, Ontario, Canada, M5S 1A4

Abstract

This paper presents a generalized approach to the singularity analysis of mechanisms with arbitrary kinematic chains and an equal number of inputs and outputs. The instantaneous kinematics of a mechanism is described by means of a velocity equation, explicitly including not only the input and output velocities but also the passive-joint velocities. A precise definition of singularity of a general mechanism is provided. On the basis of the six types of singular configurations and the motion space interpretation of kinematic singularity introduced in the paper, a comprehensive singularity classification is proposed.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/117/4/566/5583468/566_1.pdf

Reference19 articles.

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3. Collins, C. L., and Long, G. L., 1994, “Line Geometry and the Singularity Analysis of an In-parallel Hand Controller for Force Reflected Teleoperation,” ASME 23rd Mechanisms Conf., DE-Vol. 72, pp. 361–369.

4. Davies T. H. , 1981, “Kirchhoff Circulation Law Applied to Multi-loop Kinematic Chains,” Mech. and Mach. Theory, Vol. 16, pp. 171–183.

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