Constraint Singularities of Force Transmission in Nonredundant Parallel Robots With Less Than Six Degrees of FreedomSource: Journal of Mechanical Design:;2003:;volume( 125 ):;issue: 003::page 557Author:Matteo Zoppi
,
Student Mem. ASME
,
Luca E. Bruzzone
,
Rezia M. Molfino
,
Rinaldo C. Michelini
DOI: 10.1115/1.1588343Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The analysis of the workspace singularities is one of the fundamental aspects in the design of parallel robots. The architecture singularities are generally studied analysing the local properties of the Jacobian matrix. Nevertheless, for limited-DOF parallel robots, there is a category of singularities (constraint or constructive singularities), relating to the constraint force transmission, which are not described by this matrix. This paper deals with a general approach to the analysis of these singularities, used in the synthesis of a Linear Delta robot to suitably modify its geometry, remarkably improving the structural behavior. Details and numerical results are provided.
keyword(s): Force AND Robots ,
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| contributor author | Matteo Zoppi | |
| contributor author | Student Mem. ASME | |
| contributor author | Luca E. Bruzzone | |
| contributor author | Rezia M. Molfino | |
| contributor author | Rinaldo C. Michelini | |
| date accessioned | 2017-05-09T00:10:58Z | |
| date available | 2017-05-09T00:10:58Z | |
| date copyright | September, 2003 | |
| date issued | 2003 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27757#557_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/128816 | |
| description abstract | The analysis of the workspace singularities is one of the fundamental aspects in the design of parallel robots. The architecture singularities are generally studied analysing the local properties of the Jacobian matrix. Nevertheless, for limited-DOF parallel robots, there is a category of singularities (constraint or constructive singularities), relating to the constraint force transmission, which are not described by this matrix. This paper deals with a general approach to the analysis of these singularities, used in the synthesis of a Linear Delta robot to suitably modify its geometry, remarkably improving the structural behavior. Details and numerical results are provided. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Constraint Singularities of Force Transmission in Nonredundant Parallel Robots With Less Than Six Degrees of Freedom | |
| type | Journal Paper | |
| journal volume | 125 | |
| journal issue | 3 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.1588343 | |
| journal fristpage | 557 | |
| journal lastpage | 563 | |
| identifier eissn | 1528-9001 | |
| keywords | Force AND Robots | |
| tree | Journal of Mechanical Design:;2003:;volume( 125 ):;issue: 003 | |
| contenttype | Fulltext |