Graphical User Interface for the Singularity Analysis of Lower-Mobility Parallel Manipulators

被引：0
|
作者：
Caro, Stephane [1 ]
Nurahmi, Latifah [1 ]
Wenger, Philippe [1 ]
机构：
[1] CNRS, Inst Rech Commun & Cybernet Nantes, Nantes, France
来源：
NEW TRENDS IN MECHANISM AND MACHINE SCIENCE: FROM FUNDAMENTALS TO INDUSTRIAL APPLICATIONS | 2015年 / 24卷
关键词：
Singularity; Parallel manipulators; Grassmann-Cayley algebra; Graphical-user interface;
D O I：
10.1007/978-3-319-09411-3_3
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, a new graphical user interface is developed for the singularity analysis of lower-mobility parallel manipulators. The algorithm used for this tool is based upon the Grassmann-Cayley Algebra in addition to the concept of wrench graph to provide a simplified expression of the superbracket decomposition. Then, using the appropriate geometric incidences, the superbracket expression will be transformed into a geometric statement characterizing the singularity conditions of the manipulators. In this graphical user interface, useful options are introduced to better guide the user in the formulation of the superbracket and the interpretation of the singularities.
引用
收藏
页码：21 / 30
页数：10
相关论文
共 50 条
  • [1] CONSTRAINT AND SINGULARITY ANALYSIS OF LOWER-MOBILITY PARALLEL MANIPULATORS WITH PARALLELOGRAM JOINTS
    Amine, Semaan
    Kanaan, Daniel
    Caro, Stephane
    Wenger, Philippe
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2010, VOL 2, PTS A AND B, 2010, : 1317 - 1326
  • [2] Static force analysis of lower-mobility parallel manipulators
    Li, Yonggang
    Song, Yimin
    Huang, Tian
    Zhang, Ce
    Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, 2007, 43 (09): : 80 - 83
  • [3] Mobility analysis of lower-mobility parallel manipulators based on screw theory
    Li, QC
    Huang, Z
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2003, : 1179 - 1184
  • [4] Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated Nacelle
    Amine, Semaan
    Kanaan, Daniel
    Caro, Stephane
    Wenger, Philippe
    ADVANCES IN ROBOT KINEMATICS: MOTION IN MAN AND MACHINE, 2010, : 273 - 282
  • [5] Motion/Force Constrainability Analysis of Lower-Mobility Parallel Manipulators
    Liu, Xin-Jun
    Chen, Xiang
    Nahon, Meyer
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2014, 6 (03):
  • [6] Operation Modes in Lower-Mobility Parallel Manipulators
    Schadlbauer, Josef
    Nurahmi, Latifah
    Husty, Manfred
    Wenger, Philippe
    Caro, Stephane
    INTERDISCIPLINARY APPLICATIONS OF KINEMATICS, 2015, 26 : 1 - 9
  • [7] The kinematics and type synthesis of lower-mobility parallel robot manipulators
    Huang, Z
    ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS, 2004, : 65 - 76
  • [8] Graphical singularity analysis of planar parallel manipulators
    Degani, Amir
    Wolf, Alon
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 751 - +
  • [9] Motion pattern singularity in lower mobility parallel manipulators
    Altuzarra, Oscar
    Pinto, Charles
    Petuya, Victor
    Hernandez, Alfonso
    ADVANCES IN ROBOT KINEMATICS: MECHANISMS AND MOTION, 2006, : 489 - +
  • [10] Deployable parallel lower-mobility manipulators with scissor-like elements
    Yang, Yi
    Peng, Yan
    Pu, Huayan
    Chen, Haijun
    Ding, Xilun
    Chirikjian, Gregory S.
    Lyu, Shengnan
    MECHANISM AND MACHINE THEORY, 2019, 135 : 226 - 250
12345