2012
DOI: 10.1115/1.4007004
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A New Approach for Singularity Analysis and Closeness Measurement to Singularities of Parallel Manipulators

Abstract: Singularity analysis is one of the most important issues in the field of parallel manipulators. An approach for singularity analysis should be able to not only identify all possible singularities but also explain their physical meanings. Since a parallel manipulator is always out of control at a singularity and its neighborhood, it should work far from singular configurations. However, how to measure the closeness between a pose and a singular configuration is still a challenging problem. This paper presents a… Show more

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Cited by 114 publications
(56 citation statements)
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“…However, for a parallel mechanism, since the axis of the output twist screw ˆt $ is unfixed and configuration dependent, it is infeasible to find these values because they vary with the shape, size, and location of the workspace. For this reason, a modified version of the maximal virtual coefficient was defined without proof in [25] as…”
Section: Determination Of Maximal Virtual Coefficientmentioning
confidence: 99%
See 2 more Smart Citations
“…However, for a parallel mechanism, since the axis of the output twist screw ˆt $ is unfixed and configuration dependent, it is infeasible to find these values because they vary with the shape, size, and location of the workspace. For this reason, a modified version of the maximal virtual coefficient was defined without proof in [25] as…”
Section: Determination Of Maximal Virtual Coefficientmentioning
confidence: 99%
“…Unfortunately, this approach is suited solely for single-loop linkages in which the axis of the OTS is fixed on the ground. Recently, the concept of the virtual coefficient has been extended to deal with singularity identification and kinematic performance evaluation of parallel mechanisms [22][23][24][25]. In this setting, the input transmission index (ITI), the output transmission index (OTI), and the constraint transmission index (CTI) were defined for the assessment of the 'closeness' to different types of singularities of lower-mobility parallel manipulators throughout the entire workspace [25], showing that they are frame-independent and that they lie in a range [0,1].…”
Section: Introductionmentioning
confidence: 99%
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“…According to the motion/force transmission index [28], an input transmission index (ITI) for the i th (i ¼ 1,2,3,4) limb can be derived by…”
Section: Performance Evaluation Indexmentioning
confidence: 99%
“…Then, characteristic length-based method [19] and characteristic point-based method [20] are investigated to formulate the dimensionally homogeneous Jacobian matrix. Recently, MA et al [21] and Liu et al [22] found that LCI values could converge when the index is applied to the translational parallel manipulator, which results in poor performance resolution. In addition, the LCI value is frame-related [23,24].…”
Section: Introductionmentioning
confidence: 99%