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Geometric Interpretation of Singular Configurations of a Class of Parallel Manipulators

[+] Author Affiliations
Xianwen Kong

Heriot-Watt University, Edinburgh, UK

Jingjun Yu

Beihang University, Beijing, China

Clément Gosselin

Université Laval, Québec, QC, Canada

Paper No. DETC2011-48165, pp. 1009-1016; 8 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


This paper proposes an equivalent serial kinematic chain approach to identify the geometric characteristics of singular configurations of a class of parallel manipulators, which can be reduced to a structure composed of three XS and/or SX legs. Here, S and X denote respectively a spherical joint and a one-degree-of-freedom joint or generalized joint. The equivalent serial kinematic chain associated with a parallel kinematic chain composed of two XS legs is first obtained using the concept of reciprocal screws. The forward kinematic singularity (also static singularity) analysis of the parallel manipulators is then reduced to the singularity (stability) analysis of a single-loop structure. Finally, the geometric characteristics of singular configurations of the class of parallel manipulators are obtained with almost no algebraic derivation.

Copyright © 2011 by ASME
Topics: Manipulators



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