Obtaining configuration space and singularity maps for parallel manipulators
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 trac...
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| Published in | Mechanism and machine theory Vol. 44; no. 11; pp. 2110 - 2125 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Kidlington
Elsevier Ltd
01.11.2009
Elsevier |
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| Online Access | Get full text |
| ISSN | 0094-114X 1873-3999 |
| DOI | 10.1016/j.mechmachtheory.2009.06.003 |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Altuzarra, O. Amezua, E. Macho, E. Hernandez, A. |
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| Cites_doi | 10.1163/156855395X00508 10.1115/1.2912612 10.1016/j.mechmachtheory.2004.07.007 10.1016/j.mechmachtheory.2005.12.003 10.2316/Journal.206.2008.3.206-3018 10.1016/S0094-114X(00)00031-8 10.1177/02783649922066646 10.1007/978-94-017-0657-5_42 10.1115/DETC99/DAC-8647 10.1016/j.mechmachtheory.2006.04.006 10.1243/09544062JMES1069 10.1115/DETC1992-0230 10.1007/BF01254849 10.1115/1.2926562 10.1017/S0263574707004109 |
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| Keywords | 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 |
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| SubjectTerms | 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 |
| Title | Obtaining configuration space and singularity maps for parallel manipulators |
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