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Research Papers: Mechanisms and Robotics

Modified Disturbance Function Method for a 6-6 Gough–Stewart Parallel Manipulator to Traverse the Singularity Hypersurface

[+] Author and Article Information
Yu-Xin Wang

College of Mechanical Engineering and Energy, Zhejiang University, Hangzhou 310027, P.R.C.stratẖtj@hotmail.com

Yu-Tong Li1

College of Mechanical Engineering and Energy, Zhejiang University, Hangzhou 310027, P.R.C.creativetj@263.net

Shuang-Xia Pan

College of Mechanical Engineering and Energy, Zhejiang University, Hangzhou 310027, P.R.C.psxx@zju.edu.cn

1

Corresponding author.

J. Mech. Des 130(5), 052305 (Mar 26, 2008) (8 pages) doi:10.1115/1.2890113 History: Received May 21, 2007; Revised November 28, 2007; Published March 26, 2008

Due to the motion uncertainty at the singular point, while the manipulator traverses the singularity hypersurface and moves from one singularity-free region to another, its motion is uncertain. To obtain a desired motion after it traverses the singularity hypersurface, the disturbance function approach was presented by the authors. Because the configuration transformation process takes place within the maximum loss control domain (MLCD), the motion uncertainty within the MLCD still exists. In order to eliminate this kind of motion uncertainty, a modified disturbance function method is presented in this paper. With the aid of the optimization method, the modified disturbance function is constructed through setting up the constraint equations to ensure each trace point locating beyond the MLCD corresponding to the perturbed singular point, and permitting some components of the configuration parameters with a little deviation. Under the action of the modified disturbances, the manipulator moves beyond the MLCD and traverses the singularity hypersurface with a controllable motion.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 2

The manipulator traverses the singularity hypersurface

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Figure 3

Transfer of the configuration curves under the disturbance of the input parameter l2(Δl2=0.0001m); (a) component x, (b) component y, (c) component z, (d) component α, (e) component β, (f) component γ

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Figure 4

Definition of the MLCD

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Figure 5

Traces of the perturbed singular point and moving point of the SRHGSMP under the pose disturbance

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Figure 6

Equally scattering pose increment and its corresponding upright trace: (a) equally scattering pose increment and (b) real trace of upright movement

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Figure 7

Real trace for the manipulator to traverse the singularity hypersurface with a desired motion: (a) programed path and (b) real trace

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Figure 8

The trace of the perturbed moving points while traversing the singular point

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