Singularity analysis of CaPaMan: A three-degree of freedom spatial parallel manipulator

被引：0
|
作者：
Ottaviano, E [1 ]
Gosselin, CM [1 ]
Ceccarelli, M [1 ]
机构：
[1] Univ Cassino, DiMSAT, Lab Robot & Mechatron, I-03043 Cassino, Fr, Italy
来源：
2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2001年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
CaPaMan (Cassino Parallel Manipulator) is a three-degree of freedom parallel mechanism that has been designed and built at Laboratory of Robotics and Mechatronics in Cassino. In this paper a study of the configuration singularities of the CaPaMan manipulator is presented by considering two different methods: an algebraic formulation and a vector analysis. It will be shown that a formulation can give singularity related to the failure of the kinematic model at particular configurations of. the manipulator. It will also be proved that this type of singularity can be avoided by a proper analysis of the problem.
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收藏
页码：1295 / 1300
页数：6
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