Analysis of the Workspace and Singularity of Planar 2-DOF Parallel Manipulator with Actuation Redundancy

Author

Zhang, Li-Jie ; Li, Yong-Quan ; Huang, Zhen

Author_Institution

Sch. of Mech. Eng., Yanshan Univ., Hebei

fYear

2006

fDate

25-28 June 2006

Firstpage

171

Lastpage

176

Abstract

The mechanical design of manipulator is based on performance index, which will be determined for construction parameters, in order to discuss the relationship between performance index and dimensional parameter of planar 2-DOF parallel manipulator with actuation redundancy, in this paper, firstly the design space and kinematics equation are established, the inverse kinematics is obtained, the reachable workspace is analyzed by geometrical method in detail, the relationship between reachable workspace and link length is obtained, and plotting the area performance atlas corresponding to reachable workspace in the design space, finally discussing the mathematical condition on which the singular configuration of the manipulator occurs and analytical method of singular track or singular loci is obtained

Keywords

manipulator kinematics; performance index; redundancy; 2-DOF parallel manipulator; actuation redundancy; inverse kinematics; mechanical design; performance index; singular loci; Bismuth; Design automation; Force control; Kinematics; Leg; Manipulators; Mechatronics; Payloads; Performance analysis; Shape; Actuation redundancy; Design space; Inverse kinematics; Singularity; Workspace;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257491

Filename

4026075