Investigation of Singularities and Self-Motions of the 3-UPU Robot View Full Text


Ontology type: schema:Chapter      Open Access: True


Chapter Info

DATE

2002

AUTHORS

A. Wolf , M. Shoham , F. C. Park

ABSTRACT

We investigate the singular configurations and self-motion phenomena of the 3-UPU robot. Drawing principally upon tools from line geometry and screw theory, we first derive, as a set of six lines, the 6X6 transformation matrix mapping external wrenches acting on the moving platform to the internal forces/moments of the moving platform’s joints. The closest linear complex to these six governing lines is then obtained. The linear complex’s axis and pitch not only provide additional information and understanding on the type and location of the singularities, but also on the nature of any instantaneous motions arising from manufacturing tolerances and low rigidity. It is found that at the home position of certain 3-UPU architectures, the corresponding lines are contained in two zero-pitch linear complexes, causing an instantaneous two-parameter rotational motion about a line pencil at the intersection point of the 3-UPU’s limbs. In the vicinity of the home position the lines are contained in two close linear complexes, offering a theoretical explanation of the observed sensitivity of this mechanism to manufacturing tolerances. More... »

PAGES

165-174

References to SciGraph publications

  • 1996. On Self-Motions of a Class of Parallel Manipulators in RECENT ADVANCES IN ROBOT KINEMATICS
  • Book

    TITLE

    Advances in Robot Kinematics

    ISBN

    978-90-481-6054-9
    978-94-017-0657-5

    Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/978-94-017-0657-5_18

    DOI

    http://dx.doi.org/10.1007/978-94-017-0657-5_18

    DIMENSIONS

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