Singularity Conditions
of 3T1R Parallel Manipulators With Identical Limb
Structures

Amine, Semaan; Masouleh, Mehdi Tale; Caro, Stéphane; Wenger, Philippe; Gosselin, Clément

doi:10.1115/1.4005336

Cited by 57 publications

(37 citation statements)

References 25 publications

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“…First of all, the robot joints positions will be optimized to reduce the singular configurations and enlarge the Haouas 11 JMR-17-1193 robot workspace. This can be done thanks to the kinematic singularities analysis of the robot using screw theory and Grassmann-Cayley algebra (GCA) [30]. To do so, existing methods will have to be adapted to this class of robots because of the 7 DoF configurable platform (more than 6 DoF), whose motion cannot be represented by a Spatial Euclidian Group element (SE3).…”

Section: Discussionmentioning

confidence: 99%

A New Seven Degrees-of-Freedom Parallel Robot With a Foldable Platform

Haouas

Dahmouche

Piat

et al. 2018

Journal of Mechanisms and Robotics

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This paper presents a new parallel robot with an integrated gripper. The grasping capability of the robot is obtained by a foldable platform that can be fully controlled by actuators located on the base of the seven degrees-of-freedom (DoF) parallel structure. This mechanism combines three key specificities in robotics which are compactness, rigidity, and high blocking forces. The paper presents the new structure, its kinematic modeling, and an analysis of its workspace and grasping force capabilities. In addition, a prototype is presented and tested in manipulation and insertion operations, which validates the proposed concept.

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Section: Discussionmentioning

confidence: 99%

A New Seven Degrees-of-Freedom Parallel Robot With a Foldable Platform

Haouas

Dahmouche

Piat

et al. 2018

Journal of Mechanisms and Robotics

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“…(10) are without units while the third has units of length. A simple method for rendering these units homogeneous is to divide the elements of the third column by a characteristic length (Ma and Angeles, 1991a;Arsenault and Boudreau, 2004). For the considered 3-PPR PKM, side length l is chosen as the characteristic length.…”

Section: Implication Of Shape Singularitymentioning

confidence: 99%

“…Bonev et al (2003) applied screw theory in the singularity analysis of 3-DOF planar PKMs. Other researches on singularity analysis can be found in the works of Amine et al (2012); Liu et al (2012); Zarkandi (2011); Fang et al 2012; Gan et al (2013); Wolf and Glozman (2011); Alici and Shirinzadeh (2004); Wang and Gosselin (1997); Romdhane et al (2002); Bandyopadhyay and Ghosal (2004); , and Kim and Chung (1999).…”

Section: Introductionmentioning

confidence: 99%

Architectural singularities of parallel mechanisms with prismatic joints due to special designs of platform shapes

Bai

2019

Mech. Sci.

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Abstract. Singularity is an inherent property of robotic manipulators. A manipulator becomes singular when it gains or losses degrees of freedom at a particular configuration. In this work, a type of singularities caused by special shapes of platforms, either the mobile or the base platform, is addressed. This type of singularities pertains to the architecture singularity, but associated only with special shape designs of base and mobile platforms and spans in the whole workspace, which is referred as shape singularity. The paper provides formulations of shape singularity. The geometry and algebra properties of shape singularity are analyzed. Three examples of shape singularity identification for parallel mechanisms with prismatic joints are included, one for 3-DOF planar mechanisms, the others for 3-DOF and 6-DOF spatial mechanisms. The application of shape singularity in adjustable compliance mechanism design is illustrated.

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“…In a given configuration, screw theory (Ball 1900;Hunt 1978) can be used to determine the kinetostatic behaviour of a LMPM by determining the constraint and actuation wrenches applied on the MP. The wrench graph and the twist graph are useful tools to visualize these screw systems in the projective space (Amine et al 2012). The motion of the MP is thus described locally by the twist system of the MP in the configuration at hand.…”

Section: Local Versus Global Kinematic Analysismentioning

confidence: 99%

Operation Modes in Lower-Mobility Parallel Manipulators

Schadlbauer

Nurahmi²,

Husty

et al. 2014

Interdisciplinary Applications of Kinematics

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This paper discusses the notion of operation mode in parallel manipulators with less than six dof. This notion has been reported recently in several papers but the physical meaning of an operation mode is not always clear. Indeed, even if in some cases an operation mode can be associated with an understandable motion type e.g., three pure translations or a spherical motion, in some other cases, such an association is not straightforward. Therefore, the axodes are used in this paper to characterize any operation mode of lower-mobility parallel manipulators. A 3-RPS manipulator is used as an illustrative example. This manipulator is special because one can parameterize its operation modes.

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Singularity Conditions of 3T1R Parallel Manipulators With Identical Limb Structures

Abstract: This paper deals with the singularity analysis of parallel manipulators with identical limb structures performing Schönflies motions, namely, three independent translations and one rotation about an axis of fixed direction (3T1R

Cited by 57 publications

References 25 publications

A New Seven Degrees-of-Freedom Parallel Robot With a Foldable Platform

A New Seven Degrees-of-Freedom Parallel Robot With a Foldable Platform

Architectural singularities of parallel mechanisms with prismatic joints due to special designs of platform shapes

Operation Modes in Lower-Mobility Parallel Manipulators

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