Kinematic Analysis and Singularity Loci of Spatial Four-Degree-of-Freedom Parallel Manipulators Using a Vector Formulation-Reference-Cited by-同舟云学术

Kinematic Analysis and Singularity Loci of Spatial Four-Degree-of-Freedom Parallel Manipulators Using a Vector Formulation

Published:1998-12-01 Issue:4 Volume:120 Page:555-558
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Wang J.¹,Gosselin C. M.¹

Affiliation:

1. De´partement de Ge´nie Me´ecanique, Universite´ Laval, Que´bec, Que´bec, Canada, G1K 7P4

Abstract

The kinematic analysis and the determination of the singularity loci of spatial four-degree-of-freedom parallel manipulators with prismatic or revolute actuators are discussed in this article. A new method for the derivation of the velocity equations and the corresponding Jacobian matrices is presented. The numerical determination of the workspace boundaries is then briefly discussed. Finally, the determination of the singularity loci is performed using the velocity equations and examples are given to illustrate the results obtained. Spatial four-degree-of-freedom parallel manipulators can be used in several robotic applications as well as in flight simulators. The determination of their singularity loci is a very important design issue.

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/120/4/555/5685532/555_1.pdf

Reference10 articles.

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2. Gosselin C. , 1990, “Determination of the Workspace of 6-DOF Parallel Manipulators,” ASME JOURNAL OF MECHANICAL DESIGN, Vol. 112, No. 3, pp. 331–336.

3. Gosselin C. , and AngelesJ., 1990, “Singularity Analysis of Closed-Loop Kinematic Chains,” IEEE Transactions on Robotics and Automation, Vol. 6, No. 3, pp. 281–290.

4. Gosselin, C., and Wang, J., 1995, “Singularity Loci of Planar Parallel Manipulators,” Proceedings of the Ninth World Congress on the Theory of Machines and Mechanisms, Milano, Italy, Vol. 2, pp. 1973–1976.

5. Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Oxford University Press, Cambridge.

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