Publication

Hanyang University HumanRobotics Lab

International Journal
Parallel singularity-free design with actuation redundancy: A case study of three different types of 3-degree-of-freedom parallel mechanisms with redundant actuation
Journal
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Vol
Vol. 228, No. 11
Page
pp. 2018-2035
Author
K. Shin, B.-J. Yi, and W. Kim
Year
2014
Date
2014.08.05
File
Parallel singularity-free design with actuation redundancy A case study of three different types of 3-degree-of-freedom parallel mechanisms with redundant actuation.pdf (1.6M) 0회 다운로드 DATE : 2020-10-18 16:52:45
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.