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Article Dans Une Revue IEEE Transactions on Robotics Année : 2009

Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra

Résumé

This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform. Lower-mobility parallel manipulators and parallel manipulators, of which some legs do not have any spherical joint, are such manipulators. The geometric conditions associated with the dependency of six Plücker vectors of finite lines or lines at infinity constituting the rows of the inverse Jacobian matrix are formulated using Grassmann-Cayley Algebra. Accordingly, the singularity conditions are obtained in vector form. This study is illustrated with the singularity analysis of four manipulators.
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Dates et versions

hal-00425361 , version 1 (21-10-2009)

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Daniel Kanaan, Philippe Wenger, Stéphane Caro, Damien Chablat. Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra. IEEE Transactions on Robotics, 2009, 25 (5), pp.995-1004. ⟨10.1109/TRO.2009.2017132⟩. ⟨hal-00425361⟩
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