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TECHNICAL PAPERS

Forward Problem Singularities of Manipulators Which Become PS-2RS or 2PS-RS Structures When the Actuators are Locked

[+] Author and Article Information
Raffaele Di Gregorio

Department of Engineering, University of Ferrara, Via Saragat, 1, 44100 FERRARA, Italye-mail: rdigregorio@ing.unife.it

J. Mech. Des 126(4), 640-645 (Aug 12, 2004) (6 pages) doi:10.1115/1.1758251 History: Received April 01, 2003; Revised November 01, 2003; Online August 12, 2004
Copyright © 2004 by ASME
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References

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Parenti-Castelli,  V., and Innocenti,  C., 1992, “Forward Displacement Analysis of Parallel Mechanisms: Closed Form Solution of PRR-3S and PPR-3S Structures,” ASME J. Mech. Des., 114(1), pp. 68–73.
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Kim,  J., and Park,  F. C., 2001, “Direct Kinematic Analysis of 3-RS Parallel Mechanisms,” Mech. Mach. Theory, 36(10), pp. 1121–1134.
Di Gregorio, R., 2003, “Direct Kinematics of a Class of 3-dof Parallel Manipulators,” Proc. of the IEEE 11th Int. Conf. on Advanced Robotics, ICAR 2003, Coimbra, Portugal, June 30–July 3.
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Di Gregorio,  R., 2001, “Analytic Formulation of the 6-3 Fully-Parallel Manipulator’s Singularity Determination,” Robotica, 19(6), pp. 663–667.
Ebert-Uphoff, I., Lee, J.-K., and Lipkin, H., 2000, “Characteristic Tetrahedron of Wrench Singularities for Parallel Manipulators With Three Legs,” Proc. of the Ball 2000 Symposium, Cambridge, UK, July, http://robot.me.gatech.edu/PAPERS/BALL2000.pdf (also published in IMechE Journal of Mechanical Engineering Science, 2002, 216 (C1), pp. 81–93).
Kong,  X., and Gosselin,  C. M., 2001, “Uncertainity Singularity Analysis of Parallel Manipulators Based on the Instability Analysis of Structures,” Int. J. Robot. Res., 20(11), pp. 847–856.
Yang,  G., Chen,  I.-M., Lin,  W., and Angeles,  J., 2001, “Singularity Analysis of Three-Legged Parallel Robots Based on Passive-Joint Velocities,” IEEE Trans. Rob. Autom., 17(4), pp. 413–422.

Figures

Grahic Jump Location
The i-th limb of type PS
Grahic Jump Location
The j-th limb of type RS
Grahic Jump Location
Singular geometry of type (a.1)
Grahic Jump Location
Singular geometry of type (c.1)
Grahic Jump Location
Singular geometry of type (c.2)

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