Analysis of Jacobian and Singularity of Planar Parallel Robots Using Screw Theory

被引：0
|
作者：
Choi, Jung Hyun [1 ]
Lee, Jeh Won [1 ]
Lee, Hyuk Jin [1 ]
机构：
[1] Yeungnam Univ, Dept Mech Engn, Gyongsan, South Korea
来源：
TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A | 2012年 / 36卷 / 11期
关键词：
Screw Theory; Redundant; Jacobian; Singularity; Parallel Robot;
D O I：
10.3795/KSME-A.2012.36.11.1353
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The Jacobian and singularity analysis of parallel robots is necessary to analyze robot motion. The derivations of the Jacobian matrix and singularity configuration are complicated and have no geometrical earning in the velocity form of the Jacobian matrix. In this study, the screw theory is used to derive the Jacobian of parallel robots. The statics form of the Jacobian has a geometrical meaning. In addition, singularity analysis can be performed by using the geometrical values. Furthermore, this study shows that the screw theory is applicable to redundantly actuated robots as well as non-redundant robots.
引用
收藏
页码：1353 / 1360
页数：8
相关论文
共 50 条
  • [1] Screw theory and singularity analysis of parallel robots
    Hao, Kuangrong
    Ding, Yongsheng
    IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2006, : 147 - +
  • [2] Singularity analysis of 3-DOF planar parallel mechanisms via screw theory
    Bonev, IA
    Zlatanov, D
    Gosselin, CM
    JOURNAL OF MECHANICAL DESIGN, 2003, 125 (03) : 573 - 581
  • [3] Direct Kinematics and Jacobian Analysis of Exoskeleton Robots using Screw Theory and Simscape Multibody™
    Cardona, Manuel
    Garcia Cena, Cecilia
    2019 IEEE 39TH CENTRAL AMERICA AND PANAMA CONVENTION (CONCAPAN XXXIX), 2019, : 74 - 79
  • [4] Singularity Analysis of Planar Cable-Driven Parallel Robots
    Diao, Xiumin
    Ma, Ou
    Lu, Qi
    2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2, 2008, : 1016 - 1021
  • [5] Formalization and Analysis of Jacobian Matrix in Screw Theory and its Application in Kinematic Singularity
    Wu, Aixuan
    Shi, Zhiping
    Yang, Xiumei
    Guan, Yong
    Li, Yongdong
    Song, Xiaoyu
    2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2017, : 2835 - 2842
  • [6] The effect of actuator relocation on singularity, Jacobian and kinematic isotroy of parallel robots
    Chung, YH
    Gang, JG
    Lee, JW
    2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, 2002, : 2147 - 2153
  • [7] Screw Theory Based Singularity Analysis of Lower-Mobility Parallel Robots considering the Motion/Force Transmissibility and Constrainability
    Chen, Xiang
    Liu, Xin-Jun
    Xie, Fugui
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2015, 2015
  • [8] Jacobian matrix factorization and singularity analysis of a parallel robot
    University of Paris XII, LISSI-SCTIC Laboratory, 120-122 rue Paul Aramangot, 94400 Vitry sur Seine, France
    WSEAS Trans. Syst., 2006, 6 (1482-1489):
  • [9] Singularity analysis of two-legged planar parallel robots with three degrees of freedom
    Ozdemir, Mustafa
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2018, 232 (04) : 657 - 664
  • [10] SINGULARITY ANALYSIS OF PLANAR PARALLEL MANIPULATORS
    DANIALI, HRM
    ZSOMBORMURRAY, PJ
    ANGELES, J
    MECHANISM AND MACHINE THEORY, 1995, 30 (05) : 665 - 678
12345