Abstract
Singularity of parallel robots is in statics, not in instantaneous kinematics. At a singular configuration, a parallel robot loses a freedom in constraints, and gains a freedom in motion in the direction of the reciprocal screw. This singularity is dual to the singularity of serial robots in instantaneous kinematics. If a parallel robot has articulated legs, a kinematic singularity in addition to static singularity can happen. A linkage robot can be viewed as a semi-parallel robot, and its singularity has the same characteristics as an articulated-legged parallel robot.
Volume Subject Area:
23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls
This content is only available via PDF.
Copyright © 1994 by The American Society of Mechanical Engineers
You do not currently have access to this content.
