Singular Configurations Analysis of a Redundantly Actuated Parallel Manipulator

Jin Liang Gong; Jin Xiang Pang; Yanfei Zhang

doi:10.4028/www.scientific.net/AMM.620.75

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 620Singular Configurations Analysis of a Redundantly...

Singular Configurations Analysis of a Redundantly Actuated Parallel Manipulator

Abstract:

The singular configurations of a type of redundantly actuated parallel manipulator are studied in view of manipulability. Considering the non-square characteristics of Jacobian matrix of redundant input parallel machine, Laplace Theorem and its correlative theorems in Matrices Theory are introduced to avoid the problem that there is no determinant for non-square matrix. Singularity configuration distribution characteristics of this redundant input parallel machine are also depicted for different surfaces and orientations. These results provide pivotal foundations for its valid workspace selection.

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Periodical:

Applied Mechanics and Materials (Volume 620)

Pages:

75-79

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.620.75

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Online since:

August 2014

Authors:

Jin Liang Gong*, Jin Xiang Pang, Yanfei Zhang

Keywords:

Manipulability, Parallel Manipulator, Redundant Input, Singular Configuration

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* - Corresponding Author

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