DocumentCode
1747416
Title
Singularity analysis of CaPaMan: A three-degree of freedom spatial parallel manipulator
Author
Ottaviano, E. ; Gosselin, C.M. ; Ceccarelli, M.
Author_Institution
Lab. of Robotics & Mechatronics, Cassino Univ., Italy
Volume
2
fYear
2001
fDate
2001
Firstpage
1295
Abstract
CaPaMan (Cassino parallel manipulator) is a three-degree of freedom parallel mechanism that has been designed and built at the Laboratory of Robotics and Mechatronics in Cassino. In the paper a study of the configuration singularities of the CaPaMan manipulator is presented by considering two different methods: an algebraic formulation and a vector analysis. It is shown that a formulation can give singularity related to the failure of the kinematic model at particular configurations of the manipulator. It is also proved that this type of singularity can be avoided by a proper analysis of the problem.
Keywords
Jacobian matrices; manipulator kinematics; vectors; CaPaMan; Cassino parallel manipulator; algebraic formulation; configuration singularities; kinematic model; singularity analysis; three-degree of freedom spatial parallel manipulator; vector analysis; Aerospace simulation; Laboratories; Leg; Manipulators; Mechatronics; Parallel robots; Robot kinematics; Telescopes; Testing; Tires;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.932789
Filename
932789
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