NDLI: Completely Eliminating the Singularities of a 3-DOF Planar Parallel Robot With Only One Degree of Actuation Redundancy

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Rakotomanga, Novona Ilian, A. Bonev
Copyright Year	2010
Abstract	The Cartesian workspace of an n-DOF parallel robot (n < 6) is generally divided by singularity hyper-surfaces of dimension n−1. A common approach to reducing the dimension of the singularity manifold is to use actuation redundancy. However, in all previously reported works, adding one redundant actuator reduces the dimension of the singularity manifold by only one. This paper is the first to demonstrate that a properly designed actuation redundancy can be much more effective than this. Specifically, a 3-RPR design is presented in which the mobile platform and the base are equilateral triangles and show that adding a single RPR leg connecting the centers of these two triangles completely eliminates the singularities of the robot, which are otherwise a surface in the Cartesian space.
Sponsorship	Design Engineering Division and Computers in Engineering Division
Starting Page	871
Ending Page	875
Page Count	5
File Format	PDF
ISBN	9780791844106
DOI	10.1115/DETC2010-28829
e-ISBN	9780791838815
Volume Number	Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
Conference Proceedings	ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2010-08-15
Publisher Place	Montreal, Quebec, Canada
Access Restriction	Subscribed
Subject Keyword	Manifolds Design Dimensions Actuators Robots Redundancy (engineering)
Content Type	Text
Resource Type	Article

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