Title :
On Singular Configuration of a Four-Degree-of-Freedom Parallel Manipulator
Author :
Wang, Lumin ; Li, Yanwen
Author_Institution :
Environ. & Chem. Eng. Coll., Yanshan Univ., Qinhuangdao, China
Abstract :
Singular configuration of a four-degree-of freedom three-leg parallel manipulator is researched in this paper. The discriminant expression and geometrical conditions leading to singular configuration of the manipulator are obtained. Especially, three kinds of singular configuration are given. The mechanism with simple symmetric structure and large stiffness can be applied to build industrial robots and parallel machine tools. This research will play an important role in promoting the application of such manipulators.
Keywords :
elasticity; industrial manipulators; machine tools; manipulator kinematics; four-degree-of-freedom parallel manipulator; industrial robots; parallel machine tools; singular configuration; stiffness; three-leg parallel manipulator; Equations; Fasteners; Jacobian matrices; Joints; Kinematics; Manipulators; Parallel manipulator; Singularity; Special configuration;
Conference_Titel :
Information Engineering (ICIE), 2010 WASE International Conference on
Conference_Location :
Beidaihe, Hebei
Print_ISBN :
978-1-4244-7506-3
Electronic_ISBN :
978-1-4244-7507-0
DOI :
10.1109/ICIE.2010.22
