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
  • [41] Singularity Conditions for Continuum Parallel Robots
    Briot, Sebastien
    Goldsztejn, Alexandre
    IEEE TRANSACTIONS ON ROBOTICS, 2022, 38 (01) : 507 - 525
  • [42] Mobility, singularity, and geometry of parallel robots
    Kool, P
    PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS, CLAWAR 99, 1999, : 59 - 67
  • [43] Workspace and Singularity Analysis of Five Bar Planar Parallel Manipulator
    Prasad, Ram Bilas
    Arif, Mohd
    2018 5TH IEEE UTTAR PRADESH SECTION INTERNATIONAL CONFERENCE ON ELECTRICAL, ELECTRONICS AND COMPUTER ENGINEERING (UPCON), 2018, : 936 - 941
  • [44] A Singularity Analysis Method for Stewart Parallel Mechanism with Planar Platforms
    Cheng, Shili
    Su, Guihua
    Xiong, Xin
    Wu, Hongtao
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT II, 2017, 10463 : 441 - 452
  • [45] Jacobian-Based Singularity Analysis of a 3-CRRR Spatial Parallel Robot
    Beedel, Majid
    Zarafshan, P.
    Nazari, Ali A.
    2016 4TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2016, : 489 - 494
  • [46] Analytic Singularity Analysis of a 4-DOF Parallel Robot Based on Jacobian Deficiencies
    Choi, Hee-Byoung
    Konno, Atsushi
    Uchiyama, Masaru
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2010, 8 (02) : 378 - 384
  • [47] Analytic singularity analysis of a 4-DOF parallel robot based on Jacobian deficiencies
    Hee-Byoung Choi
    Atsushi Konno
    Masaru Uchiyama
    International Journal of Control, Automation and Systems, 2010, 8 : 378 - 384
  • [48] Methods for the dynamic analysis of planar parallel actuated robots
    Pham, D.T.
    Patel, M.M.
    Mathematical Modelling and Scientific Computing, 1993, 2 (sectiob):
  • [49] Screw theory based method to formulate local Jacobian' magnitude estimator contours for 6 DoF robots
    Kumar, Rajesh
    Khatait, Jitendra Prasad
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2021, 235 (18) : 3711 - 3722
  • [50] Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated Nacelle
    Amine, Semaan
    Kanaan, Daniel
    Caro, Stephane
    Wenger, Philippe
    ADVANCES IN ROBOT KINEMATICS: MOTION IN MAN AND MACHINE, 2010, : 273 - 282
12345