Singularity analysis of a class of composite serial in-parallel robots

Author

Simaan, Nabil ; Shoham, Moshe

Author_Institution

Dept. of Mech. Eng., Technion-Israel Inst. of Technol., Haifa, Israel

Volume

17

Issue

3

fYear

2001

fDate

6/1/2001 12:00:00 AM

Firstpage

301

Lastpage

311

Abstract

This paper presents the singularity analysis of a family of 14 composite serial in-parallel six degree-of-freedom robots, having a common parallel sub-mechanism. The singular configurations of this class of robots are obtained by applying line geometry methods to a single, augmented Jacobian matrix whose rows are Plucker coordinates of the lines governing the sub-mechanism motion. It is shown that this family of robots possesses three general parallel singularities that are attributed to the general complex singularity. The results were verified experimentally on a prototype of a composite serial in-parallel robot that was synthesized and constructed for use in medical applications

Keywords

Jacobian matrices; computational geometry; medical robotics; robot kinematics; Jacobian matrix; Plucker coordinates; kinematics; line geometry; medical robotics; serial parallel robots; singular configurations; singularity analysis; Biomedical equipment; Computational geometry; Fasteners; Jacobian matrices; Manipulators; Medical robotics; Medical services; Parallel robots; Prototypes; Robot kinematics;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.938387

Filename

938387