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Bifurcation in constraint singularities and structural parameters of parallel mechanisms

  • Parallel Manipulators
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Abstract

The paper addresses bifurcation in constraint singularities in connection with structural parameters of parallel mechanisms. The new formulae of mobility, connectivity, overconstraint and redundancy of parallel robots, recently proposed by the author, are used to characterize the bifurcation in constraint singularities. By using these formulae, we have demonstrated that, in a constraint singularity, the instantaneous values of mobility, connectivity of the moving platform and degree of overconstraint increase with no changes in limb connectivity. When bifurcation occurs in a constraint singularity, the mechanism can reach different branches characterized by different independent motions of the moving platform. Bifurcation in constraint singularities is easily identified by inspection with no need to calculate the augmented Jacobian.

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Authors and Affiliations

  1. IFMA, EA 3867, Laboratoire de Mécanique et Ingénieries, Clermont Université, BP 10448, 63000, Clermont-Ferrand, France

    Grigore Gogu

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  1. Grigore Gogu
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Correspondence to Grigore Gogu.

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Gogu, G. Bifurcation in constraint singularities and structural parameters of parallel mechanisms. Meccanica 46, 65–74 (2011). https://doi.org/10.1007/s11012-010-9384-y

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  • DOI: https://doi.org/10.1007/s11012-010-9384-y

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