Architecture singularities of platform manipulators
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1542-1547
- https://doi.org/10.1109/robot.1991.131835
Abstract
The architecture singularity of platform manipulators is considered with reference to a class of six-DOF (degree-of-freedom) parallel manipulators. It is pointed out that an architecture singularity usually spans the whole workspace or a significant part thereof, which makes it very difficult to implement control or singularity-avoidance strategies. Several groups of singular architectures are reported, with comprehensive theoretical proofs. This work can serve as a guide for the optimum design of parallel manipulators in the sense of achieving optimum kinematic and force-transmission performances.Keywords
This publication has 8 references indexed in Scilit:
- Direct kinematic solution of a Stewart platformPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Singularity analysis of closed-loop kinematic chainsIEEE Transactions on Robotics and Automation, 1990
- Singular Configurations of Parallel Manipulators and Grassmann GeometryThe International Journal of Robotics Research, 1989
- A Stewart Platform- Based Manipulator: General Theory and Practical ConstructionThe International Journal of Robotics Research, 1986
- Euler parameters and the use of quaternion algebra in the manipulation of finite rotations: A reviewMechanism and Machine Theory, 1986
- On the Numerical Solution of the Inverse Kinematic ProblemThe International Journal of Robotics Research, 1985
- Feasibility Study of a Platform Type of Robotic Manipulators from a Kinematic ViewpointJournal of Mechanical Design, 1984
- Structural Kinematics of In-Parallel-Actuated Robot-ArmsJournal of Mechanical Design, 1983