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Singularity analysis of a 3-DOF parallel manipulator with R-P-S joint structure

Published online by Cambridge University Press:  31 October 2005

Alexei Sokolov  and
Paul Xirouchakis
Alexei Sokolov
Affiliation:
Institute of Production and Robotics (STI-IPR-LICP) Swiss Federal Institute of Technology in Lausanne (EPFL) (Switzerland)
Paul Xirouchakis
Affiliation:
Institute of Production and Robotics (STI-IPR-LICP) Swiss Federal Institute of Technology in Lausanne (EPFL) (Switzerland)
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Abstract

This paper presents a singularity analysis for a 3-DOF parallel manipulator with R-P-S (Revolute-Prismatic-Spherical) joint structure. All three types of singularities are investigated with most attention paid for direct kinematics singularities (DKS). The loci of inverse kinematics and combined singularities are identified using a new approach. The equation of DKS is defined first from the condition of existence of an instantaneous motion. The geometrical method is used to find the loci of trajectories corresponding to DKS-s. As a result of these investigations, an optimization procedure was proposed of a robot design in order to have an enlarged singularity free part of the working space. The construction of a singularity free path is discussed without changing the robot trajectory by selecting the appropriate inverse kinematics task solution.

Keywords

Parallel manipulatorsInverse kinematics singularityDirect kinematics singularityCombined singularitiesGrassmann geometrySingularity avoidance
Type
Research Article
Information
Robotica , Volume 24 , Issue 1 , January 2006 , pp. 131 - 142
Copyright
2005 Cambridge University Press

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