Title :
Singularity Loci of Spherical Parallel Mechanisms
Author :
Bonev, Ilian A. ; Gosselin, Clément M.
Author_Institution :
Department of Automated Manufacturing Engineering École de technologie supérieure 1100 Notre-Dame Street West, Montreal, QC, Canada H3C 1K3; ilian.bonev@etsmtl.ca
Abstract :
This paper presents the computation and representation of the Type 2 singularity loci of symmetric spherical parallel mechanisms based on a not-well-known intuitive orientation representation. The latter, previously introduced under the name of the Tilt-and-Torsion angles, is briefly described. Then, to illustrate the approach, the two most basic spherical parallel mechanisms are considered and their Type 2 singularities are fully analyzed for various designs.
Keywords :
Euler angles; orientation representation; singularities; spherical parallel mechanisms; wrists; Biological system modeling; Cities and towns; Computer aided manufacturing; Concurrent computing; Joints; Manufacturing automation; Mechanical engineering; Paper technology; Pulp manufacturing; Scanning probe microscopy; Euler angles; orientation representation; singularities; spherical parallel mechanisms; wrists;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570563
