Abstract
The paper addresses the branching singularities in kinematotropic parallel mechanisms. The new formulae of mobility, connectivity, overconstraint and redundancy of parallel robots, recently proposed by the author, are used to characterize the behavior of the kinematotropic parallel mechanisms in the branching singularity and in each distinct branch. Four types of branching singularities are identified starting from the new formulae. The structural parameters associated with the four types of branching singularities and the distinct branches as well can be easily identified by inspection with no need to calculate the Jacobian matrix.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Fanghella P, Galletti C, Giannotti E (2006) Parallel robots that change their group of motion. In: Lenarčič J, Roth B (eds) Advances in Robot Kinematics: Mechanisms and Motion, Springer, Dordrecht, pp.49-56
Galletti C, Fanghella P (2001) Single-loop kinematotropic mechanisms. Mech MachTheory 37:787-798
Gogu G (2008) Structural Synthesis of Parallel Robots: Part 1 - Methodology, Springer, Dordrecht
Wohlhart K (1996) Kinematotropic linkages. In: Lenarčič J, Parenti-Castelli V. (eds) Advances in Robot Kinematics, Kluwer, Dordrecht, pp.359–368
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Gogu, G. (2009). Branching singularities in kinematotropic parallel mechanisms. In: Kecskeméthy, A., Müller, A. (eds) Computational Kinematics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01947-0_42
Download citation
DOI: https://doi.org/10.1007/978-3-642-01947-0_42
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-01946-3
Online ISBN: 978-3-642-01947-0
eBook Packages: EngineeringEngineering (R0)