Graphical Analysis for Locating Direct Singular Positions of the Parallel Manipulator MIPS

機構典藏 > College of Engineering > Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering > Journal Article > Item 987654321/65315

Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/65315

Title:	Graphical Analysis for Locating Direct Singular Positions of the Parallel Manipulator MIPS
Authors:	Liu, C. H.;Ma, Chih-Ming
Contributors:	淡江大學機械與機電工程學系
Keywords:	Direct kinematic singularity;Graphical method;Kinematics of machinery;Parallel manipulator—MIPS;Parallel robot
Date:	2010-11-09
Issue Date:	2011-10-20 21:39:35 (UTC+8)
Publisher:	Philadelphia: Taylor & Francis Inc.
Abstract:	It is shown in this study the graphical analysis using velocity polygons may be used to locate direct singular positions of a limited degree-of-freedom (DOF) parallel manipulator. The three DOF parallel manipulator MIPS is treated for illustration. The conditions for the moving platform to become movable under zero driving speeds can be obtained using the graphical velocity analysis. Manipulator configurations satisfying these conditions are direct singular positions. Several direct singular positions are determined using this technique. In order to verify these singular positions, Jacobian matrix for this manipulator is also derived in this study, and singular positions determined from graphical analysis can make the Jacobian matrix singular.
Relation:	Mechanics Based Design of Structures and Machines 38(4), p.453–467
DOI:	10.1080/15397734.2010.489503
Appears in Collections:	[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Journal Article

Files in This Item:

File	Description	Size	Format
index.html		0Kb	HTML	279	View/Open
index.html		0Kb	HTML	109	View/Open