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

D. N. Nenchev, Masaru Uchiyama

    Research output: Contribution to conferencePaperpeer-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 languageEnglish
    Pages1227-1233
    Number of pages7
    Publication statusPublished - 1996 Dec 1
    EventProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
    Duration: 1996 Nov 41996 Nov 8

    Other

    OtherProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
    CityOsaka, Jpn
    Period96/11/496/11/8

    ASJC Scopus subject areas

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

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