Singularity Analysis of a Six-dof Parallel Manipulator using Grassmann-Cayley Algebra and Gröbner Bases

The subject of this paper deals with the singularity analysis of a six-dof three-legged parallel manipulator for force-feedback interface. To this end, a geometric condition for the manipulator singularities is obtained by means of Grassmann-Cayley algebra; the parallel singularities of the manipulator are computed using Jacobian and Gröbner basis. As a result, the algebraic relations of the singularities satisfied by the orientation variables are reported. Finally, the parallel singularities of the manipulator are plotted in its orientation workspace.

Mots clés

Parallel Manipulators Grassmann-Cayley Algebra Gröbner Bases Singularity Analysis

Domaines

Electronique

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CIM25CaroMorozGayralChablatChen_FinalVersion.pdf (257.31 Ko)

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Stéphane CARO : Connectez-vous pour contacter le contributeur

https://hal.science/hal-00545747

Soumis le : dimanche 12 décembre 2010-00:30:18

Dernière modification le : mardi 27 août 2024-12:42:06

Archivage à long terme le : dimanche 13 mars 2011-02:30:04

Dates et versions

hal-00545747 , version 1 (12-12-2010)

Identifiants

HAL Id : hal-00545747 , version 1
DOI : 10.1007/978-3-642-16259-6_26

Citer

Stéphane Caro, Guillaume Moroz, Thibault Gayral, Damien Chablat, Chao Chen. Singularity Analysis of a Six-dof Parallel Manipulator using Grassmann-Cayley Algebra and Gröbner Bases. Angeles J., Boulet B., Clark J.J., Kövecses J., Siddiqi K. Brain, Body and Machine. Advances in Intelligent and Soft Computing, 83, pp.341-352, 2010, 978-3-642-16258-9. ⟨10.1007/978-3-642-16259-6_26⟩. ⟨hal-00545747⟩

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