Acceleration and singularity analyses of a parallel manipulator with a particular topology

Gallardo-Alvarado, Jaime; Orozco-Mendoza, H.; Maeda-Sánchez, A.

doi:10.1007/s11012-006-9042-6

Cited by 14 publications

(5 citation statements)

References 29 publications

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“…Mayer-St-Onge and Gosselin 9 pointed out that the singularity of the general Stewart-Gough parallel manipulator can be represented as a polynomial expression of degree 3 while other researchers studied different properties of the singular configurations. [10][11][12][13][14][15][16][17][18][19] Most of the reported work in this area has been addressing the constant-orientation singularity or the position-singularity which can be defined as the set of all positions of an arbitrary point P, usually the origin of the moving reference frame, on the moving platform which results in singularity for a given orientation of the moving platform. To the best of the authors' knowledge, much less work on singularity has been reported for the topic of the orientation-singularity, which describes the set of all orientations of the moving platform leading to singular configurations for a given position of point P. The most relevant investigations have been made in refs.…”

Section: Introductionmentioning

confidence: 99%

Orientation-singularity analysis and orientationability evaluation of a special class of the Stewart–Gough parallel manipulators

Cao

Gosselin²,

Zhou³

et al. 2013

Robotica

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SUMMARYThis paper addresses the orientation-singularity analysis and the orientationability evaluation of a special class of the Stewart–Gough parallel manipulators in which the moving and base platforms are two similar semi-symmetrical hexagons. Based on the half-angle transformation, an analytical polynomial of degree 13 that represents the orientation-singularity locus of this special class of parallel manipulators at a given position is derived. Graphical representations of the orientation-singularity locus of this class of manipulators are illustrated with examples to demonstrate the results. Based on the description of the orientation-singularity and nonsingular orientation region of this class of parallel manipulators, a performance index, referred to as orientationability, which describes the orientation capability of this class of manipulators at a given position, is introduced. A discretization algorithm is proposed for computing the orientationability of the special class of parallel manipulators at a given position in the workspace. Moreover, the effects of the design parameters and position parameters on the orientationability are also investigated in detail. Based on the orientationability performance index, another performance index, referred to as practical orientationability, representing the practical orientation capability of the manipulators at a given position, is introduced. In this performance index, singularities, the limitations of active and passive joints and link interferences are all taken into consideration. Furthermore, the practical orientationability of the special class of parallel manipulators studied here is also analyzed over several plane sections of the position-workspace in detail.

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Section: Introductionmentioning

confidence: 99%

Orientation-singularity analysis and orientationability evaluation of a special class of the Stewart–Gough parallel manipulators

Cao

Gosselin²,

Zhou³

et al. 2013

Robotica

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show abstract

“…Of course, as it is shown in refs. [11][12][13], the idea of decoupled motions is also applicable to the so-called defective parallel manipulators, in other words, spatial parallel manipulators with fewer than six DOF. However, these contributions proposed asymmetrical manipulators and in some cases the inclusion of compound joints, or kinematic pairs formed from two or more distinct kinematic pairs, difficult the mechanical assembly and performance of these parallel manipulators.…”

Section: Introductionmentioning

confidence: 99%

A novel five-degrees-of-freedom decoupled robot

2009

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SUMMARYIn this work a new nonoverconstrained redundant decoupled robot, free of compound joints, formed from three parallel manipulators, with two moving platforms and provided with six active limbs connected to the fixed platform, called LinceJJP, is presented. Interesting applications such as multi-axis machine tools with parallel kinematic architectures, solar panels, radar antennas, and telescopes are available for this novel spatial mechanism.

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“…Gosselin and Angeles [8] showed that singularities of parallel manipulators could be classified into three different types based on determinants of the manipulator's Jacobian matrices. Recently, Mayer St-Onge and Gosselin [9] pointed out that the singularity locus of the general Stewart-Gough parallel manipulator should be a polynomial expression of degree three, and so on (see references [10] to [18]). Most of the reported work in this area has been performed in constant-orientation singularity which can be defined as the set of all positions of an arbitrary point C, usually the origin of the moving reference frame, in the mobile platform which result in singularity when the mobile platform is kept at a constant orientation.…”

Section: Introductionmentioning

confidence: 99%

Research on the orientation-singularity and orientation-workspace of a class of Stewart—Gough parallel manipulators

Cao

Zhou

Zhang

et al. 2009

Proceedings of the Institution of Mechanical Engineers, Part K:

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This article addresses the orientation-singularity analysis and orientation-workspace computation of a class of Stewart-Gough manipulators in which the moving and base platforms are two similar semisymmetrical hexagons. Based on the half-angle transformation, a polynomial expression of 13 degrees that represents the orientation-singularity locus of this class of Stewart-Gough manipulators at a fixed position is derived, and graphical representations of the orientation-singularity locus of this class of Stewart-Gough manipulators are illustrated with examples to demonstrate the result. Using this half-angle transformation, a discretization method is proposed for computing the orientation-workspace of this class of Stewart-Gough manipulators taking limitations of active and passive joints and the link interference into consideration. In addition, this article also presents a new discretization method for the computation of the nonsingular orientation-workspace of this class of Stewart-Gough manipulators, where singularities, limitations of active and passive joints, and the link interference are all taken under consideration. The non-singular orientation-workspace can not only satisfy the kinematics demand of this class of Stewart-Gough parallel manipulators, but also can guarantee that the manipulator is non-singular in the whole orientation-workspace. Examples of a 6/6-SPS Stewart-Gough manipulator of this class are given to demonstrate the results.

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Acceleration and singularity analyses of a parallel manipulator with a particular topology

Cited by 14 publications

References 29 publications

Orientation-singularity analysis and orientationability evaluation of a special class of the Stewart–Gough parallel manipulators

Orientation-singularity analysis and orientationability evaluation of a special class of the Stewart–Gough parallel manipulators

A novel five-degrees-of-freedom decoupled robot

Research on the orientation-singularity and orientation-workspace of a class of Stewart—Gough parallel manipulators

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