This paper presents a methodology for the Jacobian analysis of limited degrees-of-freedom (DOF) parallel manipulators. A limited-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees-of-freedom. It is shown that a 6×6 Jacobian matrix, which provides information about both architecture and constraint singularities, can be derived by making use of the theory of reciprocal screws. The 3-UPU and 3-RPS parallel manipulators are used as examples to demonstrate the methodology.
Jacobian Analysis of Limited-DOF Parallel Manipulators
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received Oct. 2001. Associate Editor: J. Rastegar.
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Joshi, S. A., and Tsai, L. (May 16, 2002). "Jacobian Analysis of Limited-DOF Parallel Manipulators ." ASME. J. Mech. Des. June 2002; 124(2): 254–258. https://doi.org/10.1115/1.1469549
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