The Cartesian workspace of most three-degree-of-freedom parallel mechanisms is divided by Type 2 (also called parallel) singularity surfaces into several regions. Accessing more than one such region requires crossing a Type 2 singularity, which is risky and calls for sophisticated control strategies. Some mechanisms can still cross these Type 2 singularity surfaces through “holes” that represent Type 1 (also called serial) singularities only. However, what is even more desirable is if these Type 2 singularity surfaces were curves instead. Indeed, there exists at least one such parallel mechanism (the agile eye) and all of its singularities are self-motions. This paper presents another parallel mechanism, a planar one, whose singularities are self-motions. The singularities of this novel mechanism are studied in detail. While the Type 2 singularities in the Cartesian space still constitute a surface, they degenerate into lines in the active-joint space, which is the main result of this paper.
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August 2010
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A Parallel Mechanism With Singularities That are Self-Motions Available to Purchase
Novona Rakotomanga,
Novona Rakotomanga
Department of Automated Manufacturing Engineering,
École de technologie supérieure (ÉTS)
, Montreal, QC, H3C 1K3 Canada
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Ilian A. Bonev
Ilian A. Bonev
Department of Automated Manufacturing Engineering,
e-mail: [email protected]
École de technologie supérieure (ÉTS)
, Montreal, QC, H3C 1K3 Canada
Search for other works by this author on:
Novona Rakotomanga
Department of Automated Manufacturing Engineering,
École de technologie supérieure (ÉTS)
, Montreal, QC, H3C 1K3 Canada
Ilian A. Bonev
Department of Automated Manufacturing Engineering,
École de technologie supérieure (ÉTS)
, Montreal, QC, H3C 1K3 Canadae-mail: [email protected]
J. Mechanisms Robotics. Aug 2010, 2(3): 034502 (4 pages)
Published Online: July 14, 2010
Article history
Received:
May 4, 2009
Revised:
January 7, 2010
Online:
July 14, 2010
Published:
July 14, 2010
Citation
Rakotomanga, N., and Bonev, I. A. (July 14, 2010). "A Parallel Mechanism With Singularities That are Self-Motions." ASME. J. Mechanisms Robotics. August 2010; 2(3): 034502. https://doi.org/10.1115/1.4001737
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