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

Hee Byoung Choi; Atsushi Konno; Masaru Uchiyama

doi:10.1115/detc2003/dac-48822

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 conference › Paper › peer-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 language	English
Pages	1125-1133
Number of pages	9
DOIs	https://doi.org/10.1115/detc2003/dac-48822
Publication status	Published - 2003 Jan 1
Event	2003 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Chicago, IL, United States Duration: 2003 Sep 2 → 2003 Sep 6

Other

Other	2003 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Country/Territory	United States
City	Chicago, IL
Period	03/9/2 → 03/9/6

ASJC Scopus subject areas

Engineering(all)

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10.1115/detc2003/dac-48822

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Singularity analysis of a novel 4-dofs parallel robot H4 by using screw theory. / Choi, Hee Byoung; Konno, Atsushi; Uchiyama, Masaru.

2003. 1125-1133 Paper presented at 2003 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Chicago, IL, United States.

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

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AB - 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.

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

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