Dynamic analysis of parallel-link manipulators under the singularity-consistent formulation

D. N. Nenchev; Masaru Uchiyama

Dynamic analysis of parallel-link manipulators under the singularity-consistent formulation

D. N. Nenchev, Masaru Uchiyama

Research output: Contribution to conference › Paper › peer-review

Abstract

For a class of parallel-link manipulators we develop a general formulation of the equation of motion, suitable for parallel computations. We analyze the torque requirement when moving through various self-motion type singularities on a path generated under the singularity-consistent framework. The formulation contributes mainly to the analysis of a singularity which is typical for parallel robots only, known from previous studies as 'overmobility.' We show that if the dynamics of the system is taken under consideration, it is possible to move through such a singularity. This analysis motivates the introduction of the concept of dynamic singularity consistency. As a comprehensive analytical example we use a five bar robotic mechanism.

Original language	English
Pages	1227-1233
Number of pages	7
Publication status	Published - 1996 Dec 1
Event	Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn Duration: 1996 Nov 4 → 1996 Nov 8

Other

Other	Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
City	Osaka, Jpn
Period	96/11/4 → 96/11/8

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

Fingerprint Dive into the research topics of 'Dynamic analysis of parallel-link manipulators under the singularity-consistent formulation'. Together they form a unique fingerprint.

Cite this

@conference{5689f66288a74feb8d28dd38566bb86f,

title = "Dynamic analysis of parallel-link manipulators under the singularity-consistent formulation",

abstract = "For a class of parallel-link manipulators we develop a general formulation of the equation of motion, suitable for parallel computations. We analyze the torque requirement when moving through various self-motion type singularities on a path generated under the singularity-consistent framework. The formulation contributes mainly to the analysis of a singularity which is typical for parallel robots only, known from previous studies as 'overmobility.' We show that if the dynamics of the system is taken under consideration, it is possible to move through such a singularity. This analysis motivates the introduction of the concept of dynamic singularity consistency. As a comprehensive analytical example we use a five bar robotic mechanism.",

author = "Nenchev, {D. N.} and Masaru Uchiyama",

year = "1996",

month = dec,

day = "1",

language = "English",

pages = "1227--1233",

note = "Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) ; Conference date: 04-11-1996 Through 08-11-1996",

}

TY - CONF

T1 - Dynamic analysis of parallel-link manipulators under the singularity-consistent formulation

AU - Nenchev, D. N.

AU - Uchiyama, Masaru

PY - 1996/12/1

Y1 - 1996/12/1

N2 - For a class of parallel-link manipulators we develop a general formulation of the equation of motion, suitable for parallel computations. We analyze the torque requirement when moving through various self-motion type singularities on a path generated under the singularity-consistent framework. The formulation contributes mainly to the analysis of a singularity which is typical for parallel robots only, known from previous studies as 'overmobility.' We show that if the dynamics of the system is taken under consideration, it is possible to move through such a singularity. This analysis motivates the introduction of the concept of dynamic singularity consistency. As a comprehensive analytical example we use a five bar robotic mechanism.

AB - For a class of parallel-link manipulators we develop a general formulation of the equation of motion, suitable for parallel computations. We analyze the torque requirement when moving through various self-motion type singularities on a path generated under the singularity-consistent framework. The formulation contributes mainly to the analysis of a singularity which is typical for parallel robots only, known from previous studies as 'overmobility.' We show that if the dynamics of the system is taken under consideration, it is possible to move through such a singularity. This analysis motivates the introduction of the concept of dynamic singularity consistency. As a comprehensive analytical example we use a five bar robotic mechanism.

UR - http://www.scopus.com/inward/record.url?scp=0030412009&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0030412009&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0030412009

SP - 1227

EP - 1233

T2 - Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)

Y2 - 4 November 1996 through 8 November 1996

ER -