Partially flagged parallel manipulators: singularity charting and avoidance
There are only three 6-SPS parallelmanipulatorswith triangular base and platform, i.e., the octahedral, the flagged, and the partially flagged, which are studied in this paper. The forward kinematics of the octahedralmanipulator is algebraically intricate, while those of the other two can be solved...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2009 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/10186 |
| Acceso en línea: | https://hdl.handle.net/2117/10186 https://dx.doi.org/10.1109/TRO.2009.2018970 |
| Access Level: | acceso abierto |
| Palabra clave: | Robots -- Dynamics Configuration space kinematics singularities parallel manipulators redundant manipulators robot design. Robots -- Dinàmica Classificació INSPEC::Automation::Robots::Robot kinematics Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | There are only three 6-SPS parallelmanipulatorswith triangular base and platform, i.e., the octahedral, the flagged, and the partially flagged, which are studied in this paper. The forward kinematics of the octahedralmanipulator is algebraically intricate, while those of the other two can be solved by three trilaterations. As an additional nice feature, the flagged manipulator is the only parallel platform for which a cell decomposition of its singularity locus has been derived. Here, we prove that the partially flagged manipulator also admits a well-behaved decomposition, technically called a stratification, some of whose strata are not topological cells, however. Remarkably, the adjacency diagram of the 5-D and 6-D strata (which shows what 5-D strata are contained in the closure of a 6-D one) is the same as for the flaggedmanipulator. The availability of such a decomposition permits devising a redundant 7-SPS manipulator, combining two partially flagged ones, which admits a control strategy that completely avoids singularities. Simulation results support these claims. |
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