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Parallel singularity-free design with actuation redundancy: A case study of three different types of 3-degree-of-freedom parallel mechanisms with redundant actuation

Title
Parallel singularity-free design with actuation redundancy: A case study of three different types of 3-degree-of-freedom parallel mechanisms with redundant actuation
Author
이병주
Keywords
Singularity analysis; redundant actuation; parallel mechanism; Grassmann line geometry; Grassmann-Cayley algebra
Issue Date
2014-08
Publisher
Professional Engineering Publishing Ltd.
Citation
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, v. 228, NO. 11, Page. 2018-2035
Abstract
Typical parallel mechanisms suffer from parallel singularity due to kinematic coupling of multichains. This paper investigates how to remove parallel singularities by using redundant actuations. First, actuation wrenches and constraint wrenches forming the full direct kinematic Jacobian matrix are derived. After briefly addressing conditions for their constraint singularities, Grassmann-Cayley algebra is employed to identify parallel singularities. Then, employing Grassmann line geometry, the locations and the minimum number of redundant actuators are identified for the parallel mechanisms to have parallel singularity-free workspace. Three different types of 3-degree-of-freedom parallel mechanisms such as planar, spherical, and spatial parallel mechanisms are given as exemplary devices.
URI
https://journals.sagepub.com/doi/10.1177/0954406213512246https://repository.hanyang.ac.kr/handle/20.500.11754/181026
ISSN
0954-4062;2041-2983
DOI
10.1177/0954406213512246
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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