Open AccessA NEW METHOD FOR LIMB SINGULARITY ANALYSIS OF PARALLEL MANIPULATORS
Author(s) -
Semaan Amine,
Ossama Mokhiamar,
Stéphane Caro
Publication year - 2019
Publication title -
international journal of robotics and automation
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.249
H-Index - 26
eISSN - 1925-7090
pISSN - 0826-8185
DOI - 10.2316/j.2019.206-5494
Subject(s) - jacobian matrix and determinant , gravitational singularity , screw theory , singularity , mathematics , degrees of freedom (physics and chemistry) , twist , computer science , mathematical analysis , physics , artificial intelligence , geometry , robot , quantum mechanics
This paper presents a new method for analyzing the limb singularities of lower-mobility parallel manipulators using the superbracket of Grassmann-Cayley algebra. For lower-mobility limbs, the limb twist system does not form a 6 × 6 matrix. The proposed method allows forming a Jacobian matrix, and thus, a superbracket for any lower-mobility limb by adding twists that correspond to the limb's constrained motion(s). The method is applied to four-and five-degrees of freedom limbs.
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