Singularity analysis of a novel 4-dofs parallel robot H4 by using screw theory

Hee Byoung Choi, Atsushi Konno, Masaru Uchiyama

    Research output: Contribution to conferencePaperpeer-review

    6 Citations (Scopus)

    Abstract

    The closed-loop structure of a parallel robot results in complex kinematic singularities in the workspace. Singularity analysis become important in design, motion, planning, and control of parallel robot. The traditional method to determine a singular configurations is to find the determinant of the Jacobian matrix. However, the Jacobian matrix of a parallel manipulator is complex in general, and thus it is not easy to find the determinant of the Jacobian matrix. In this paper, we focus on the singularity analysis of a novel 4-DOFs parallel robot H4 based on screw theory. Two types singularities, i.e., the forward and inverse singularities, have been identified.

    Original languageEnglish
    Pages1125-1133
    Number of pages9
    DOIs
    Publication statusPublished - 2003 Jan 1
    Event2003 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Chicago, IL, United States
    Duration: 2003 Sep 22003 Sep 6

    Other

    Other2003 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference
    CountryUnited States
    CityChicago, IL
    Period03/9/203/9/6

    ASJC Scopus subject areas

    • Engineering(all)

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