Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator

被引：21

作者：

Yahya, Samer ^{[1
]}

Moghavvemi, M. ^{[1
]}

Mohamed, Haider A. F.

机构：

[1] Univ Malaya, CRAE, Kuala Lumpur 50603, Malaysia

来源：

COMPUTERS & MATHEMATICS WITH APPLICATIONS | 2012年 / 64卷 / 05期

关键词：

Planar manipulator; Redundant manipulator; Kinematics; Singularity avoidance; Manipulability;

D O I：

10.1016/j.camwa.2011.12.073

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

This paper focuses on the improvement of singularity avoidance of three dimensional planar redundant manipulators by increasing its degrees of freedom without increasing the number of motors controlling the manipulator. Consequently, the method to build a three dimensional planar manipulator with six-degrees of freedom using three motors instead of six is discussed in detail. A comparison of the manipulability index values for the proposed manipulator is made with the manipulability index values of PUMA arm to demonstrate the effectiveness of using the proposed manipulator for singularity avoidance. (C) 2011 Elsevier Ltd. All rights reserved.

引用

页码：856 / 868

页数：13

共 50 条

[31] Modeling and Verification for a Three-Degree-of-Freedom Flexure-Based Planar Parallel Micro Manipulator
Lin, Jianfeng
Qi, Chenkun
Gao, Feng
Yue, Yi
Hu, Yan
Wei, Baochen
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2023, 15 (04):
[32] Self-calibration for kinematic parameters of a redundant planar two-degree-of-freedom parallel manipulator using evolutionary algorithms
Feng, Chunshi
Cong, Shuang
Shan, He
Shang, Weiwei
Zhang, Yaoxin
ENGINEERING OPTIMIZATION, 2009, 41 (04) : 385 - 398
[33] Dynamic analysis and simulation of a six degree of freedom Stewart platform manipulator
Guo, HB
Li, HR
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2006, 220 (01) : 61 - 72
[34] Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator
Wang, Wenhao
Wang, Na
Wu, Xiaoyong
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2022, 19 (05)
[35] On the kinematic analysis of a spatial six-degree-of-freedom parallel manipulator
Vakil, M.
Pendar, H.
Zohoor, H.
Scientia Iranica, 2009, 16 (01) : 1 - 14
[36] A robust geometric method of singularity avoidance for kinematically redundant planar parallel robot manipulators
Baron, Nicholas
Philippides, Andrew
Rojas, Nicolas
MECHANISM AND MACHINE THEORY, 2020, 151
[37] On the Kinematic Analysis of a Spatial Six-Degree-of-Freedom Parallel Manipulator
Vakil, M.
Pendar, H.
Zohoor, H.
SCIENTIA IRANICA TRANSACTION B-MECHANICAL ENGINEERING, 2009, 16 (01): : 1 - 14
[38] On the kinematic analysis of a spatial six-degree-of-freedom parallel manipulator
Vakil, M.
Pendar, H.
Zohoor, H.
Scientia Iranica, 2009, 16 (1 B) : 1 - 14
[39] Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms
Li, Haidong
Gosselin, Clement M.
Richard, Marc J.
MECHANISM AND MACHINE THEORY, 2006, 41 (10) : 1157 - 1167
[40] Dynamic Manipulability and Optimization of a Redundant Three DOF Planar Parallel Manipulator
Shao, Hua
Wang, Liping
Guan, Liwen
Wu, Jun
RECONFIGURABLE MECHANISMS AND ROBOTS, 2009, : 308 - 314

← 1 2 3 4 5 →