Paper Info
Title
Determining Singularities Of Some 3-Dof Parallel Manipulators With Linear Active Legs By 3x3 Translational/3x3 Rotational Jacobian Matrices
Abstract
An analytic approach based on translational/rotational Jacobian matrices is proposed for determining the singularities of some 3-DOF (degree of freedom) parallel manipulators (PMs) with linear active legs. First, the constraint and displacement of a general 3-DOF PM are analysed. Second, a common 3 x 3 translational Jacobian matrix and a common 3 x 3 rotational,Jacobian matrix are derived, and a common formula is derived for solving 3 x 3 general Jacobian matrix of the 3-DOF PMs. Third, the singularities of some 3-DOF PMs with three pure translations, or with three pure rotations, or with combined translation rotations are determined and analysed, respectively.
Year
DOI
Venue
2010
10.2316/Journal.206.2010.4.206-3351
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
Keywords
Field
DocType
Parallel manipulator, singularity, Jacobian matrix
Jacobian matrix and determinant,Control theory,Mathematical analysis,Matrix (mathematics),Gravitational singularity,Mathematics
Journal
Volume
Issue
ISSN
25
4
0826-8185
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Yi Lu1168.24
Shu-Yan Li200.34
Yan Shi31109.93