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Completely Eliminating the Singularities of a 3-DOF Planar Parallel Robot With Only One Degree of Actuation Redundancy

[+] Author Affiliations
Novona Rakotomanga, Ilian A. Bonev

École de Technologie Supérieure (ÉTS), Montreal, QC, Canada

Paper No. DETC2010-28829, pp. 871-875; 5 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


The Cartesian workspace of an n-DOF parallel robot (n < 6) is generally divided by singularity hyper-surfaces of dimension n−1. A common approach to reducing the dimension of the singularity manifold is to use actuation redundancy. However, in all previously reported works, adding one redundant actuator reduces the dimension of the singularity manifold by only one. This paper is the first to demonstrate that a properly designed actuation redundancy can be much more effective than this. Specifically, a 3-R PR design is presented in which the mobile platform and the base are equilateral triangles and show that adding a single R PR leg connecting the centers of these two triangles completely eliminates the singularities of the robot, which are otherwise a surface in the Cartesian space.

Copyright © 2010 by ASME



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