A Geometrical Approach for the Singularity Analysis of a 3-Rrs Parallel Manipulator
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Tetik, Halil
Kiper, Gökhan
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Yes
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Abstract
Identifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to identify the singularity manifolds for a 3-RRS parallel manipulator. The singularity surfaces for both inverse and forward kinematics singularities are obtained and plotted.
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Keywords
Parallel manipulators, Jacobian analysis, Singularity analysis, Singularity surfaces, Manipulators, Jacobian analysis, Singularity analysis, Manipulators, Parallel manipulators, Singularity surfaces
Fields of Science
0209 industrial biotechnology, 0203 mechanical engineering, 02 engineering and technology
Citation
Tetik, H, and Kiper, G. (2018). A geometrical approach for the singularity analysis of a 3-RRS parallel manipulator. In Zeghloul S, Romdhane L, Laribi MA (Eds), Computational Kinematics: Proceedings of the 7th International Workshop on Computational Kinematics that was held at Futuroscope-Poitiers, France, in May 2017(pp. 349-356). Cham, Switzerland: Springer
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5
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349
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356
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