Abstract
In the process of mechanism design and trajectory planning of in-parallel actuated manipulators, it is necessary to grasp the locations of all of singular points in the working space. This paper proposes a new method for numerically searching for the singular points of in-parallel actuated manipulators based on the pressure angle. A singular-point curve is defined as a set of singular points. Since the working space is divided into multiple regions by the singular-point curves, the end-effector cannot move freely from one region to any other regions. Kinematic and static characteristics at singular points are analyzed by pressure angles and instantaneous screw axes. Singular points of the Stewart-Platform are investigated based on the proposed method. Characteristics in the neighborhoods of singular points are analyzed from the points of view of output error, isotropy of output force and driving force, and the practical working space is defined.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
