Abstract
This paper examines the phenomenon of constraint singularity of a parallel mechanism, as defined in a recent publication. We focus our attention on the fact that constraint singularities are always singular points of the configuration space of the kinematic chain. As such, they separate distinct configuration space regions and may allow transitions between dramatically different operation modes. All this is exemplified by a multi-operational parallel mechanism that can undergo a variety of transformations when passing through singular configurations.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Appleberry, W.T., 1992, “Anti-rotation positioning mechanism,” US Patent 5, 156, 062.
Bonev, I.A., Zlatanov, D. and Gosselin, C.M., 2002, “Advantages of the Modified Euler Angles in the Design and Analysis of PKMs,” Parallel Kinematics Seminar,Chemnitz, Germany, April 23–25.
Di Gregorio, R., and Parenti-Castelli, V., 1998, “A Translational 3-DOF Parallel Manipulator,” Advances in, Robot Kinematics: Analysis and Control, J. Lenarcic and M.L. Husty (eds.), Kluwer Academic Publishers, pp. 49–58.
Di Gregorio, R., 2001, “Statics and Singularity of the 3-UPU Wrist,” Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Como, Italy, pp. 470–475, July 8–12.
Hunt, K. H., 1973, “Constant-velocity shaft couplings: a general theory,” Transactions of the ASME, Journal of Engineering for Industry, Vol. 95B, pp. 455–464. Hunt, K.H., 1978, Kinematic Geometry of Mechanisms, Oxford University Press.
Karouia, M., and Hervé, J.M., 2000, “A Three-DOF Tripod For Generating Spherical Rotation,” Advances in Robot Kinematics, J. Lenarcic and M.M. Stanisic (eds.), Kluwer Academic Publishers, pp. 395–4020.
Park, F.C., and Kim, J.W., 1999, “Singularity analysis of closed-loop kinematic chains,” ASME Journal of Mechanical Design, Vol. 121, pp. 32–38.
Tsai, L-W., 1996, “Kinematics of a Three-DOF Platform With Three Extensible Limbs,” Recent Advances in Robot Kinematics, J. Lenarcic and V. Parenti-Castelli (eds.), Kluwer Academic Publishers, pp. 401–410.
Zlatanov, D., Benhabib, B. and Fenton, R.G., 1994, “Singularity Analysis of Mechanism and Robots Via a Velocity-Equation Model of the Instantaneous Kinematics,” Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, pp. 986–991.
Zlatanov, D., 1998, “Generalized Singularity Analysis of Mechanisms,” Ph.D. thesis, University of Toronto.
Zlatanov, D., Bonev, I.A., Gosselin, C.M., 2002, “Constraint Singularities of Parallel Mechanisms,” accepted for publication, Proceedings of the IEEE International Conference on Robotics and Automation, Washington, DC, May 12–15.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2002 Springer Science+Business Media Dordrecht
About this chapter
Cite this chapter
Zlatanov, D., Bonev, I.A., Gosselin, C.M. (2002). Constraint Singularities as C-Space Singularities. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_20
Download citation
DOI: https://doi.org/10.1007/978-94-017-0657-5_20
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6054-9
Online ISBN: 978-94-017-0657-5
eBook Packages: Springer Book Archive