Obtaining configuration space and singularity maps for parallel manipulators

• Published in: Mechanism and machine theory Vol. 44; no. 11; pp. 2110 - 2125
• Main Authors: Macho, E., Altuzarra, O., Amezua, E., Hernandez, A.
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01.11.2009; Elsevier
• Subjects: Applied sciences; Computer science; control theory; systems; Control theory. Systems; Drives; Exact sciences and technology; Fundamental areas of phenomenology (including applications); Linkage mechanisms, cams; Mechanical engineering. Machine design; Parallel manipulator; Physics; Position problem; Robotics; Singularity analysis; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Working modes; Workspace; Working modes; Singularity analysis; Parallel manipulator; Position problem; Workspace; Positioning; Singularity; Moving robot; Mechanism analysis; Parallel mechanism; Jacobi matrix; Desassembly; Modeling; Robotics; Kinematics; Linkage mechanism; Kinematic chain; Assembly
• ISSN: 0094-114X; 1873-3999
• DOI: 10.1016/j.mechmachtheory.2009.06.003

The aim of this paper is to describe a general methodology to obtain the entire set of positions that a parallel manipulator can reach and the workspace regions where the robot is controllable. The workspace is computed using a hybrid analytical-discrete procedure. Next the singularity maps are traced by carrying out a kinematic analysis of the positions obtained. To perform the latter a systematic method has been introduced to obtain the corresponding Jacobian matrices. The result of the whole process is the computation of singularity-free workspace regions, associated with certain working and assembly modes. After that, strategies to enlarge the accessible space are easier to plan and implement. This methodology is based on disassembling the manipulator into a mobile platform and a set of kinematic chains.