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Keywords: singularity
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Journal Articles
Article Type: Research Papers
J. Mech. Des. January 2020, 142(1): 012302.
Paper No: MD-19-1011
Published Online: October 3, 2019
... Jacobian matrix, a statistical method, and a geometric method. The PMs only need to translate or rotate once to move from the initial configuration to the final configuration, which allows for easy control of speeds. The relationship between mechanism parameters and singularity is analyzed. A speed control...
Journal Articles
Article Type: Research Papers
J. Mech. Des. November 2008, 130(11): 112304.
Published Online: September 23, 2008
...Qimi Jiang; Clément M. Gosselin The maximal singularity-free workspace of parallel mechanisms is a desirable criterion in robot design. However, for a 6DOF parallel mechanism, it is very difficult to find an analytic method to determine the maximal singularity-free workspace around a prescribed...
Journal Articles
Article Type: Research Papers
J. Mech. Des. February 2008, 130(2): 022306.
Published Online: January 2, 2008
... are used for determining the instantaneous center of rotation for the second one of them. The two extremal points on the curve with respect to the instantaneous center are recognized as singular points. The chronological ordering of these singular points is used to generate the two envelope curves, which...
Topics: Manipulators
Journal Articles
Article Type: Research Papers
J. Mech. Des. December 2007, 129(12): 1256–1264.
Published Online: December 18, 2006
... subgroup are obtained by implementing serial arrays of 1DOF Reuleaux pairs or hinged parallelograms. In total, five distinct mechanical generators of Y motion are revealed and seven ones having at least one parallelogram are also derived from them. In order to avoid the singularity that may occur...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. April 2007, 129(4): 445–448.
Published Online: April 26, 2006
...Davide Paganelli Singularities form surfaces in the jointspace of a serial manipulator. Paï and Leu ( Paï and Leu, 1992, IEEE Trans. Rob. Autom., 8, pp. 545–559 ) introduced the important notion of generic manipulator, the singularity surfaces of which are smooth and do not intersect with each...
Topics: Manipulators
Journal Articles
Article Type: Research Papers
J. Mech. Des. July 2006, 128(4): 729–737.
Published Online: September 5, 2005
... are performed and the singular and isotropic configurations are identified afterward. Moreover, the mechanism design to eliminate all singularities and generate an isotropic manipulator has been presented. With the variation on architectural parameters, the reachable workspace of the manipulator is generated...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. June 2002, 124(2): 259–264.
Published Online: May 16, 2002
...Raffaele Di Gregorio; Vincenzo Parenti-Castelli The occurrence of singular configurations in parallel mechanisms must be avoided during motion since the actuators cannot control motion even in the neighborhood of these configurations. As a consequence, the knowledge of the singular configurations...