This paper proposes an equivalent serial kinematic chain approach to identify the geometric characteristics of singular configurations of a class of parallel manipulators, which can be reduced to a structure composed of three XS and/or SX legs. Here, S and X denote respectively a spherical joint and a one-degree-of-freedom joint or generalized joint. The equivalent serial kinematic chain associated with a parallel kinematic chain composed of two XS legs is first obtained using the concept of reciprocal screws. The forward kinematic singularity (also static singularity) analysis of the parallel manipulators is then reduced to the singularity (stability) analysis of a single-loop structure. Finally, the geometric characteristics of singular configurations of the class of parallel manipulators are obtained with almost no algebraic derivation.
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ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 28–31, 2011
Washington, DC, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
978-0-7918-5483-9
PROCEEDINGS PAPER
Geometric Interpretation of Singular Configurations of a Class of Parallel Manipulators
Xianwen Kong,
Xianwen Kong
Heriot-Watt University, Edinburgh, UK
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Cle´ment Gosselin
Cle´ment Gosselin
Universite´ Laval, Que´bec, QC, Canada
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Xianwen Kong
Heriot-Watt University, Edinburgh, UK
Jingjun Yu
Beihang University, Beijing, China
Cle´ment Gosselin
Universite´ Laval, Que´bec, QC, Canada
Paper No:
DETC2011-48165, pp. 1009-1016; 8 pages
Published Online:
June 12, 2012
Citation
Kong, X, Yu, J, & Gosselin, C. "Geometric Interpretation of Singular Configurations of a Class of Parallel Manipulators." Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B. Washington, DC, USA. August 28–31, 2011. pp. 1009-1016. ASME. https://doi.org/10.1115/DETC2011-48165
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