A CENTRO-BASED CHARACTERIZATION OF SINGULARITIES IN THE WORKSPACE OF PLANAR CLOSED-LOOP MANIPULATORS

Sen, Dibakar and Mruthyunjaya, TS (1998) A CENTRO-BASED CHARACTERIZATION OF SINGULARITIES IN THE WORKSPACE OF PLANAR CLOSED-LOOP MANIPULATORS. In: Mechanism and Machine Theory, 33 (8). pp. 1091-1104.

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Abstract

The paper presents a centro-based characterization of singularities in planar multi-DOF mechanisms with arbitrary kinematic structure. A multi-DOF mechanism is treated as an assembly of several single DOF link sets and hence the terms like affected link set, active link set and active centro have been defined. Criteria for end-effector dependent and end-effector independent singularities of a closed-loop manipulator with given output link have been established in the paper in terms of centroes. Based on the relative disposition of the centroes, the singularities have been classified into five types and their physical implications have been explained. End-effector dependent singularities are shown to lie on the coupler curve of ab larger single DOF mechanism. A simple linkage transformation has been proposed for the study of manipulators with physical limits on joint motion under the general framework of close-loop manipulators. Several examples have been worked out to demonstrate the centro-based method of singularity analysis

Item Type:	Journal Article
Publication:	Mechanism and Machine Theory
Publisher:	Elsevier Science
Additional Information:	Copyright of this article belongs to Elsevier Science.
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	13 Mar 2009 06:01
Last Modified:	19 Sep 2010 04:58
URI:	http://eprints.iisc.ac.in/id/eprint/17867

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