Design Blocks in Simulink to Detection Singularity in the Workspace of Gough-Stewart Robot Manipulator
نویسندگان
چکیده
منابع مشابه
determination of maximal singularity free zones in the workspace of parallel manipulator
due to the limiting workspace of parallel manipulator and regarding to finding the trajectory planning of singularity free at workspace is difficult, so finding a best solution that can develop a technique to determine the singularity-free zones in the workspace of parallel manipulators is highly important. in this thesis a simple and new technique are presented to determine the maximal singula...
15 صفحه اولSingularity Representation and Workspace Determination of a Special Class of the Gough-Stewart Platforms
The closed-loop nature of the Gough-Stewart platform generates complex singular configurations inside the workspace and makes its workspace smaller compared to the serial mechanism. It is desirable to obtain a non-singular workspace based on describing the constraint workspace and representing the singularities inside the constraint workspace. Some algorithms have been proposed by researchers t...
متن کاملStructure and Property of the Singularity Loci of Gough-Stewart Manipulator
During the past two decades, parallel manipulator system has become one of the research attentions in robotics. This popularity has been motivated by the fact that parallel manipulators possess some specific advantages over serial manipulators, i.e., higher rigidity and load-carrying capacity, better dynamic performance and a simpler inverse position kinematics, etc. Among various manipulators,...
متن کاملSingularity Analysis and Representation of the General Gough-Stewart Platform
In this paper, the singularity loci of the Gough-Stewart platform are studied and a graphical representation of these loci in the manipulator’s workspace is obtained. The algorithm presented is based on analytical expressions of the determinant of the Jacobian matrix, using two different approaches, namely, linear decomposition and cofactor expansion. The first approach is used to assess the ef...
متن کاملSingularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms
In general, rearranging the legs of a Stewart-Gough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless, some leg rearrangements have been recently found to leave singularities invariant but, unfortunately, these rearrangements are only valid for Stewart-Gough platforms containing rigid components. In th...
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ژورنال
عنوان ژورنال: Journal of University of Babylon for Engineering Sciences
سال: 2019
ISSN: 2616-9916,2616-9916
DOI: 10.29196/jubes.v27i1.1967