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    Singularities of a Manipulator With Offset Wrist

    Source: Journal of Mechanical Design:;1999:;volume( 121 ):;issue: 002::page 315
    Author:
    R. L. Williams
    DOI: 10.1115/1.2829461
    Publisher: 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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      Singularities of a Manipulator With Offset Wrist

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    contributor authorR. L. Williams
    date accessioned2017-05-09T00:00:31Z
    date available2017-05-09T00:00:31Z
    date copyrightJune, 1999
    date issued1999
    identifier issn1050-0472
    identifier otherJMDEDB-27661#315_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/122618
    description abstractThe 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.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleSingularities of a Manipulator With Offset Wrist
    typeJournal Paper
    journal volume121
    journal issue2
    journal titleJournal of Mechanical Design
    identifier doi10.1115/1.2829461
    journal fristpage315
    journal lastpage319
    identifier eissn1528-9001
    keywordsManipulators AND Design
    treeJournal of Mechanical Design:;1999:;volume( 121 ):;issue: 002
    contenttypeFulltext
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