Analysis of the degrees-of-freedom of spatial parallel manipulators in regular and singular configurations

Srivatsan, Arun R and Bandyopadhyay, Sandipan and Ghosal, Ashitava (2013) Analysis of the degrees-of-freedom of spatial parallel manipulators in regular and singular configurations. In: MECHANISM AND MACHINE THEORY, 69 . pp. 127-141.

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Abstract

This paper presents a study of the nature of the degrees-of-freedom of spatial manipulators based on the concept of partition of degrees-of-freedom. In particular, the partitioning of degrees-of-freedom is studied in five lower-mobility spatial parallel manipulators possessing different combinations of degrees-of-freedom. An extension of the existing theory is introduced so as to analyse the nature of the gained degree(s)-of-freedom at a gain-type singularity. The gain of one- and two-degrees-of-freedom is analysed in several well-studied, as well as newly developed manipulators. The formulations also present a basis for the analysis of the velocity kinematics of manipulators of any architecture. (C) 2013 Elsevier Ltd. All rights reserved.

Item Type:	Journal Article
Publication:	MECHANISM AND MACHINE THEORY
Publisher:	PERGAMON-ELSEVIER SCIENCE LTD
Additional Information:	copyright for this article belongs to ELSEVIER SCIENCE
Keywords:	Parallel manipulators; Instantaneous degrees-of-freedom; Singularity; Lower-mobility manipulators
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	26 Nov 2013 15:15
Last Modified:	26 Nov 2013 15:15
URI:	http://eprints.iisc.ac.in/id/eprint/47784

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