Singularities of a Manipulator With Offset Wrist

[+] Author and Article Information
R. L. Williams

Department of Mechanical Engineering, Ohio University, Athens, Ohio

J. Mech. Des 121(2), 315-319 (Jun 01, 1999) (5 pages) doi:10.1115/1.2829461 History: Received April 01, 1997; Revised February 01, 1999; Online December 11, 2007


The singularities of manipulators with offset wrists are difficult to enumerate. This article presents a numerical study to illuminate singularity problems when using an offset wrist with an articulated regional arm. Ironically, the regional manipulator singularity problem is worsened when using a singularity-free offset wrist. No wrist singularities exist (they are forced by design to lie outside of joint limits). However, the existing regional arm singularities become skewed from the well-known singular configurations of common manipulators. The wrist offset also skews the well-known wrist singularities (though they hopefully still lie outside of joint limits, their locations are no longer easily determined). Thus, a zero-offset singularity-free wrist is preferable with regard to overall manipulator singularities.

Copyright © 1999 by The American Society of Mechanical Engineers
Topics: Manipulators , Design
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