DocumentCode :
2328654
Title :
Kinematic feature analysis of parallel manipulator systems
Author :
Lee, Sukhan ; Kim, Sungbok
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
fYear :
1994
fDate :
8-13 May 1994
Firstpage :
77
Abstract :
This paper presents an in-depth analysis on the kinematic features of parallel manipulators, such as deficiency, singularity, and redundancy. Parallel manipulators under consideration are of a general form, with no restriction on their structure. Three orthogonal instantaneous motion spaces (IMSs) of a parallel manipulator are identified including deficient, uncontrollable, and controllable IMSs. Based on the IMSs, the deficiency and singularity of a parallel manipulator are devised and analyzed and their remedies are devised. Three types of redundancies of a parallel manipulator are introduced including the redundancies in serial chain, joint actuation, and parallelism. The three types of redundancies are shown to overcome the singularity of a parallel manipulator, as well as to improve either its dexterity or load capacity
Keywords :
control system analysis; manipulator kinematics; motion control; redundancy; instantaneous motion spaces; joint actuation; kinematic feature analysis; parallel manipulator systems; redundancy; serial chain; singularity; Conductivity; Geometry; Helium; Joining processes; Kinematics; Laboratories; Motion control; Propulsion; Space technology;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
Type :
conf
DOI :
10.1109/ROBOT.1994.351007
Filename :
351007
Link To Document :
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