Singularities of a Manipulator With Offset WristSource: Journal of Mechanical Design:;1999:;volume( 121 ):;issue: 002::page 315Author:R. L. Williams
DOI: 10.1115/1.2829461Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The singularities of manipulators with offset wrists are difficult to enumerate. This article presents a numerical study to illuminate singularity problems when using an offset wrist with an articulated regional arm. Ironically, the regional manipulator singularity problem is worsened when using a singularity-free offset wrist. No wrist singularities exist (they are forced by design to lie outside of joint limits). However, the existing regional arm singularities become skewed from the well-known singular configurations of common manipulators. The wrist offset also skews the well-known wrist singularities (though they hopefully still lie outside of joint limits, their locations are no longer easily determined). Thus, a zero-offset singularity-free wrist is preferable with regard to overall manipulator singularities.
keyword(s): Manipulators AND Design ,
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contributor author | R. L. Williams | |
date accessioned | 2017-05-09T00:00:31Z | |
date available | 2017-05-09T00:00:31Z | |
date copyright | June, 1999 | |
date issued | 1999 | |
identifier issn | 1050-0472 | |
identifier other | JMDEDB-27661#315_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/122618 | |
description abstract | The singularities of manipulators with offset wrists are difficult to enumerate. This article presents a numerical study to illuminate singularity problems when using an offset wrist with an articulated regional arm. Ironically, the regional manipulator singularity problem is worsened when using a singularity-free offset wrist. No wrist singularities exist (they are forced by design to lie outside of joint limits). However, the existing regional arm singularities become skewed from the well-known singular configurations of common manipulators. The wrist offset also skews the well-known wrist singularities (though they hopefully still lie outside of joint limits, their locations are no longer easily determined). Thus, a zero-offset singularity-free wrist is preferable with regard to overall manipulator singularities. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Singularities of a Manipulator With Offset Wrist | |
type | Journal Paper | |
journal volume | 121 | |
journal issue | 2 | |
journal title | Journal of Mechanical Design | |
identifier doi | 10.1115/1.2829461 | |
journal fristpage | 315 | |
journal lastpage | 319 | |
identifier eissn | 1528-9001 | |
keywords | Manipulators AND Design | |
tree | Journal of Mechanical Design:;1999:;volume( 121 ):;issue: 002 | |
contenttype | Fulltext |