Analysis of configuration space singularities of closed-loop mechanisms and parallel manipulators

Bandyopadhyay, Sandipan and Ghosal, Ashitava (2004) Analysis of configuration space singularities of closed-loop mechanisms and parallel manipulators. In: Mechanism and Machine Theory, 39 (5). pp. 519-544.

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Abstract

A parallel manipulator or a closed-loop mechanism may gain or lose one or more degree-of-freedom at a singular point, and in this paper, we study the singularity associated with gain of one or more degrees-of-freedom. We analyze the constraint forces associated with kinematic constraints inherent in a closed-loop mechanism or a parallel manipulator, and characterize the gain singularities from the degeneracy of these constraint forces. Several special phenomena associated with gain singularity, such as locking of the actuators have been studied, and analytical criteria for these have been derived. We also present the necessary condition for finite self motion and finite dwell of the passive links by analyzing second-order properties of the constraint equations. The results are illustrated with the help of several closed-loop mechanisms.

Item Type:	Journal Article
Publication:	Mechanism and Machine Theory
Publisher:	Elsevier
Additional Information:	Copyright of this article belongs to Elsevier.
Keywords:	parallel manipulators;Closed-loop mechanisms;Gain singularity;Finite self motion;Finite dwell
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	22 Nov 2007
Last Modified:	19 Sep 2010 04:18
URI:	http://eprints.iisc.ac.in/id/eprint/3056

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