Singularity analysis of three-legged parallel robots based on passive-joint velocities
Singularity analysis of three-legged parallel robots based on passive-joint velocities
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DOI：
10.1109/robot.2001.932982
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发表时间：
2001-05
期刊：
影响因子：
--
通讯作者：
Guilin Yang;I. Chen;Wei Lin;J. Angeles
中科院分区：
文献类型：
--
作者：
Guilin Yang;I. Chen;Wei Lin;J. Angeles
Focusing on the instantaneous velocities of passive joints, a formulation approach is proposed for the instantaneous kinematics and singularity analysis of a class of three-legged parallel robots. Since only four 3/spl times/3 matrices need to be analyzed, the complexity of singularity analysis is significantly, reduced. Using the product-of-exponentials (POE) formula, the kinematic equations possess well-defined algebraic structures so that the instantaneous kinematics and singularity analysis algorithms can be readily and systematically formulated. Three types of singularities, i.e. the forward, inverse, and combined singularities, have been identified. A unified condition for various singularities is proposed. Significant geometric conditions are also presented for identifying singularity configurations that require simple computations.
