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Direct Singular Positions of 3RPS Parallel Manipulators
Direct Singular Positions of 3RPS Parallel Manipulators
In this study a procedure to obtain direct singular positions of a 3RPS parallel manipulator is presented. If the heights of 3 spherical joints, denoted by d1n , d2n , and d3n respectively, are used as coordinate axes, then the workspace of the moving platform may be represented as an inclined solid cylinder in this coordinate system. The location of a point on the solid circular cylinder determines a configuration of the manipulator’s moving platform. The procedure to locate direct singular positions consists of two steps, the orientation of the moving platform is assumed first, from which the horizontal position of the moving platform may be obtained; then in the second step the heights that make determinant of Jacobian matrix vanish may always be determined. Results show that unless the moving platform is normal to the base, in which case there exist only one or two singular configurations, otherwise there are always three singular configurations corresponding to a moving platform’s orientation.Copyright © 2004 by ASME
- Tamkang University Taiwan
Microsoft Academic Graph classification: Coordinate system Cylinder Horizontal position representation Base (geometry) Jacobian matrix and determinant symbols.namesake symbols Workspace Engineering business.industry business Geometry Parallel manipulator Orientation (geometry)
Computer Graphics and Computer-Aided Design, Computer Science Applications, Mechanical Engineering, Mechanics of Materials
Computer Graphics and Computer-Aided Design, Computer Science Applications, Mechanical Engineering, Mechanics of Materials
Microsoft Academic Graph classification: Coordinate system Cylinder Horizontal position representation Base (geometry) Jacobian matrix and determinant symbols.namesake symbols Workspace Engineering business.industry business Geometry Parallel manipulator Orientation (geometry)
citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).61 popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.Average influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).Average impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.Average citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).61 popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.Average influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).Average impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.Average
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- Tamkang University Taiwan
In this study a procedure to obtain direct singular positions of a 3RPS parallel manipulator is presented. If the heights of 3 spherical joints, denoted by d1n , d2n , and d3n respectively, are used as coordinate axes, then the workspace of the moving platform may be represented as an inclined solid cylinder in this coordinate system. The location of a point on the solid circular cylinder determines a configuration of the manipulator’s moving platform. The procedure to locate direct singular positions consists of two steps, the orientation of the moving platform is assumed first, from which the horizontal position of the moving platform may be obtained; then in the second step the heights that make determinant of Jacobian matrix vanish may always be determined. Results show that unless the moving platform is normal to the base, in which case there exist only one or two singular configurations, otherwise there are always three singular configurations corresponding to a moving platform’s orientation.Copyright © 2004 by ASME