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TECHNICAL PAPERS

Constraint Singularities of Force Transmission in Nonredundant Parallel Robots With Less Than Six Degrees of Freedom

[+] Author and Article Information
Matteo Zoppi, Luca E. Bruzzone, Rezia M. Molfino, Rinaldo C. Michelini

University of Genova, PMAR Robot Design Research Group, Via all’Opera 15A, Genova, 16145, Italia e-mail: {zoppi,bruzzone,molfino,michelini}@dimec.unige.it

J. Mech. Des 125(3), 557-563 (Sep 04, 2003) (7 pages) doi:10.1115/1.1588343 History: Received July 01, 2001; Revised February 01, 2003; Online September 04, 2003
Copyright © 2003 by ASME
Topics: Force , Robots
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References

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Figures

Grahic Jump Location
Scheme of the Linear Delta robot (the arrows represent the axes of the universal joint rotational pairs)
Grahic Jump Location
Workspace of the considered Linear Delta robot (the arrows represent the directions of the universal joint central axes) (lengths in meters)
Grahic Jump Location
Conformation of the constraint singularity surface (lengths in meters): (a) α1=0,α2=0,α3=0; (b) α1=0,α2=π/2,α3=π/2; (c) α1=π/2,α2=π/2,α3=π/2
Grahic Jump Location
Mapping of the condition number cc on the symmetry plane xz (lengths in meters): (a) α1=0,α2=0,α3=0; (b) α1=0,α2=π/2,α3=π/2; (c) α1=π/2,α2=π/2,α3=π/2; the joint mobility bounds the workspace to the region delimited by the white dashed line; the constraint singularity surface is placed outside the workspace

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