In this paper, a computational approach suitable to compute the instantaneous mobility of manipulators in any kind of configuration (either singular or nonsingular) using a general purpose software is presented. Although the procedure is applicable to any formulation of the velocity equation, in this paper authors have used a point-based jacobian formulation of the manipulator. The end-effector’s instantaneous mobility is analyzed, first discriminating among its rotational, translational and passive freedoms, and then computing its principal screws. Then, either its instantaneous screw systems or certain instantaneous pitch surfaces can be depicted. The approach is illustrated with its application to the 3-URU DYMO parallel manipulator.
- Design Engineering Division and Computers and Information in Engineering Division
Modal Characterization of the Instantaneous Mobility of Manipulators
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Salgado, O, Altuzarra, O, Amezua, E, & Herna´ndez, A. "Modal Characterization of the Instantaneous Mobility of Manipulators." Proceedings of the ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B. Las Vegas, Nevada, USA. September 4–7, 2007. pp. 1289-1298. ASME. https://doi.org/10.1115/DETC2007-35328
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