Parallel singularity-free design with actuation redundancy: A case study of three different types of 3-degree-of-freedom parallel mechanisms with redundant actuation
- Authors
- Shin, Kyoosik; Yi, Byung-Ju; Kim, Wheekuk
- Issue Date
- 8월-2014
- Publisher
- SAGE PUBLICATIONS LTD
- Keywords
- Singularity analysis; redundant actuation; parallel mechanism; Grassmann line geometry; Grassmann-Cayley algebra
- Citation
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v.228, no.11, pp.2018 - 2035
- Indexed
- SCIE
SCOPUS
- Journal Title
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
- Volume
- 228
- Number
- 11
- Start Page
- 2018
- End Page
- 2035
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/97846
- DOI
- 10.1177/0954406213512246
- ISSN
- 0954-4062
- Abstract
- Typical parallel mechanisms suffer from parallel singularity due to kinematic coupling of multichains. This paper investigates how to remove parallel singularities by using redundant actuations. First, actuation wrenches and constraint wrenches forming the full direct kinematic Jacobian matrix are derived. After briefly addressing conditions for their constraint singularities, Grassmann-Cayley algebra is employed to identify parallel singularities. Then, employing Grassmann line geometry, the locations and the minimum number of redundant actuators are identified for the parallel mechanisms to have parallel singularity-free workspace. Three different types of 3-degree-of-freedom parallel mechanisms such as planar, spherical, and spatial parallel mechanisms are given as exemplary devices.
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Collections - College of Science and Technology > Department of Electro-Mechanical Systems Engineering > 1. Journal Articles
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