0

Full Content is available to subscribers

Subscribe/Learn More  >

Forward Displacement Analysis of a Linearly Actuated Quadratic Spherical Parallel Manipulator

[+] Author Affiliations
Xianwen Kong, James M. Ritchie

Heriot-Watt University, Edinburgh, UK

Clément Gosselin

Université Laval, Québec, QC, Canada

Paper No. DETC2010-28126, pp. 1241-1247; 7 pages
doi:10.1115/DETC2010-28126
From:
  • 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

abstract

A quadratic parallel manipulator refers to a parallel manipulator with a quadratic characteristic polynomial. This paper revisits the forward displacement analysis (FDA) of a linearly actuated quadratic spherical parallel manipulator. An alternative formulation of the kinematic equations of the quadratic spherical parallel manipulator is proposed. The singularity analysis of the quadratic spherical parallel manipulator is then dealt with. A new type of singularity of parallel manipulators — leg actuation singularity — is identified. If a leg is in a leg actuation singular configuration, the actuated joints in this leg cannot be actuated even if the actuated joints in other legs are released. A formula is revealed that produces a unique current solution to the FDA for a given set of inputs. The input space is also revealed for the quadratic spherical parallel manipulator in order to guarantee that the robot works in the same assembly mode. This work may facilitate the control of the quadratic spherical parallel manipulator.

Copyright © 2010 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In