RESEARCH PAPERS: Mechanisms and Robotics

Singularity-Free Evolution From One Configuration to Another in Serial and Fully-Parallel Manipulators

[+] Author and Article Information
C. Innocenti

DIEM-Facoltà di Ingegneria, Università di Bologna, Viale Risorgimento, 2, 40136 Bologna-Italia

V. Parenti-Castelli

Istituto di Ingegneria, Università di Ferrara, Via Scandiana, 21, 44100 Ferrara-Italia

J. Mech. Des 120(1), 73-79 (Mar 01, 1998) (7 pages) doi:10.1115/1.2826679 History: Received July 01, 1992; Revised December 01, 1992; Online December 11, 2007


Among the several ways adopted for the characterization of manipulator performances is identification of the typologies of maneuvers allowed by the manipulator kinematic arrangement. The multiplicity of configurations corresponding to a given hand position for serial manipulators, or to a given set of input values for fully-parallel manipulators, makes one wonder whether a manipulator can perform the maneuver of changing its configuration without meeting singularities. The paper shows that singularity-free configuration change is possible both for general-geometry serial and fully-parallel architectures. Results are reported that shed light on potential performances of manipulators and allow, in perspective, a deeper exploitation of their structural peculiarities.

Copyright © 1998 by The American Society of Mechanical Engineers
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