Inverse Kinematics and Singularity Analysis for a 3-DOF Hybrid-Driven Cable-Suspended Parallel Robot | Zendy

Bin Zi | Zendy; Xia Wu | Zendy; Jun Lin | Zendy; Zhencai Zhu | Zendy

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Inverse Kinematics and Singularity Analysis for a 3-DOF Hybrid-Driven Cable-Suspended Parallel Robot

Author(s) -

Bin Zi,

Xia Wu,

Jun Lin,

Zhencai Zhu

Publication year - 2012

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/51920

Subject(s) - singularity , workspace , inverse kinematics , kinematics , computer science , representation (politics) , parallel manipulator , degrees of freedom (physics and chemistry) , forward kinematics , control theory (sociology) , robot , topology (electrical circuits) , mathematics , artificial intelligence , mathematical analysis , classical mechanics , physics , control (management) , quantum mechanics , politics , political science , law , combinatorics

This paper addresses the kinematics and graphical representation of the singularity configuration of a hybrid-driven cable-suspended parallel robot (HDCPR) with three translational degrees of freedom (DOFs). Applying the closed-loop vector method and geometric methodology, inverse kinematics of the HDCPR needed for singularity analysis is performed. For the sake of singularity condition calculation within the reachable workspace, the procedure utilizing analytical methodology and gradual search algorithm is presented. Simulation results demonstrate the validity of the kinematics and singularity analysis developed

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