Singularity Analysis of 2-DOF Parallel Manipulator

Jong Gyu Lee; Sang Ryong Lee; Choon Young Lee; Seung Han Yang

doi:10.4028/www.scientific.net/AMR.569.589

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 569Singularity Analysis of 2-DOF Parallel Manipulator

Singularity Analysis of 2-DOF Parallel Manipulator

Abstract:

The end-effector of 2-DOF parallel manipulator has an orientation. Jacobian matrices are obtained by kinematic analysis. The singular configurations of the manipulator are found using these matrices and the certain characteristic of these configurations is investigated. With the result from simulation, we found that these configurations happened to workspace-interior as well as workspace-boundary and the orientation angle of the end-effector exerted a strong influence on the singularity of the manipulator.

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Periodical:

Advanced Materials Research (Volume 569)

Pages:

589-592

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.569.589

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Online since:

September 2012

Authors:

Jong Gyu Lee, Sang Ryong Lee, Choon Young Lee, Seung Han Yang

Keywords:

Jacobian Matrices, Parallel Manipulator, Singularity

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