RESEARCH PAPERS: Mechanisms Papers

Kinematic Modules for Singularity-Free Movement With Three Cartesian Freedoms

[+] Author and Article Information
G. L. Long, J. M. McCarthy

Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92717

R. P. Paul

Computer and Information Science, University of Pennsylvania, Philadelphia, PA 19104

J. Mech. Des 115(2), 207-213 (Jun 01, 1993) (7 pages) doi:10.1115/1.2919179 History: Received June 01, 1991; Online June 02, 2008


The singularity conditions of three-revolute-joint serial chain manipulators are investigated by considering the motion of an arbitrary point on a terminal link. A distinction is made between singular configurations (every point on the terminal link is singular) and singular surfaces (a chosen point on the terminal link lies on a singular surface). Of particular interest is a class of 3R manipulators—each manipulator within this class forms a third-order screw system. We outline the structural requirements for this 3R class, and then determine the singularity conditions for several cases. For several manipulators within this 3R class, we describe a strategy to develop four-revolute-joint kinematic modules for singularity-free movement with three Cartesian freedoms. The algorithm to control the kinematic modules is simple and can be implemented in real-time.

Copyright © 1993 by The American Society of Mechanical Engineers
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