Full Content is available to subscribers

Subscribe/Learn More  >

Dynamic Stability of Parallel Manipulator at its Singularities Corresponding to Kinematic Parameters of Dynamic Systems

[+] Author Affiliations
Li Yu-Tong, Wang Yu-Xin

China University of Petroleum, Qingdao, China

Paper No. DETC2018-85076, pp. V006T09A009; 8 pages
  • ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Quebec City, Quebec, Canada, August 26–29, 2018
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5183-8
  • Copyright © 2018 by ASME


With the aid of the Liyapunov first approximate stability criterion, the dynamic stability condition for the 3-RPR parallel mechanism to realize a deterministic motion at singular configurations is deduced. Based on this condition, the distributions of the kinematic parameters including input velocities and accelerations of the system corresponding to the stable motion at its singular configuration are investigated then. It is found that for a given singular configuration, increasing input velocities and accelerations, the sub-distributions of eigenvalues with positive real parts have a tendency to shrink and, consequently, the motion stability at the singular configuration can be enhanced; adjusting input velocities and accelerations only can not necessarily get all negative real parts of the eigenvalues sharing a common intersection of the distributing subintervals and, normally, the additional adjustment of initial velocities of the particle system should be added. Besides, while the movable platform goes through the singular configuration, if the control law of the input parameters makes the instantaneous velocity center of the movable platform far away from the singular point, the platform is able to go through the singular configuration with high stability and strong capability to resist external disturbances. This research indicates the effectiveness to improve the motion stability of the dynamics system at singular configurations via adjusting the input kinematic parameters. From this, a singularity-free approach via adjusting the input kinematic parameters can be utilized to exclude singularities of parallel mechanisms dynamically in the joint trajectory planning stage without introducing either redundancy or active mass.

Copyright © 2018 by ASME



Interactive Graphics


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

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