Open AccessCompletely Eliminating the Singularities of a 3-DOF Planar Parallel Robot With Only One Degree of Actuation Redundancy
Author(s) -
Novona Rakotomanga,
Ilian A. Bonev
Publication year - 2010
Publication title -
citeseer x (the pennsylvania state university)
Language(s) - English
Resource type - Conference proceedings
DOI - 10.1115/detc2010-28829
Subject(s) - redundancy (engineering) , gravitational singularity , cartesian coordinate system , singularity , workspace , parallel manipulator , topology (electrical circuits) , robot , manifold (fluid mechanics) , actuator , planar , mathematics , dimension (graph theory) , computer science , equilateral triangle , control theory (sociology) , pure mathematics , mathematical analysis , geometry , artificial intelligence , combinatorics , engineering , computer graphics (images) , mechanical engineering , control (management) , operating system
The Cartesian workspace of an n-DOF parallel robot (n < 6) is generally divided by singularity hyper-surfaces of dimension n−1. A common approach to reducing the dimension of the singularity manifold is to use actuation redundancy. However, in all previously reported works, adding one redundant actuator reduces the dimension of the singularity manifold by only one. This paper is the first to demonstrate that a properly designed actuation redundancy can be much more effective than this. Specifically, a 3-R PR design is presented in which the mobile platform and the base are equilateral triangles and show that adding a single R PR leg connecting the centers of these two triangles completely eliminates the singularities of the robot, which are otherwise a surface in the Cartesian space.Copyright © 2010 by ASME
Accelerating Research
Robert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom
Address
John Eccles HouseRobert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom