A Study of the Instantaneous Centers of Rotation in Singularities of 3-dof Fully Parallel Planar Manipulators
نویسنده
چکیده
ABSTRACT Finding singular configurations (singularities) of manipulators is obviously important, because these configurations are the ones where the instantaneous kinematics becomes indeterminate. In this paper, singularities of a three degree-of-freedom (DOF) fully parallel planar manipulator are analyzed with the aid of two Jacobian matrices which are expressed through instantaneous centers of rotation and it will be shown that how these centers are located in each type of singularities.
منابع مشابه
Instantaneous center of rotation and singularities of planar parallel manipulators
With regard to planar parallel manipulators, a general classification of singularities into three groups is given. The classification scheme relies on the properties of instantaneous centers of rotation. This method is very fast and can easily be applied to the manipulators under study. The method is applied to a planar three-degrees-of-freedom parallel manipulator and all its singular configur...
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