A NEW METHOD FOR LIMB SINGULARITY ANALYSIS OF PARALLEL MANIPULATORS

Semaan Amine, Ossama Mokhiamar, and Stephane Caro

Keywords

Limb singularity, screw theory, Grassmann- Cayley algebra, superbracket

Abstract

This paper presents a new method for analyzing the limb singularities of lower-mobility parallel manipulators using the superbracket of Grassmann-Cayley algebra. For lower-mobility limbs, the limb twist system does not form a 6× 6 matrix. The proposed method allows forming a Jacobian matrix, and thus, a superbracket for any lower-mobility limb by adding twists that correspond to the limb’s constrained motion(s). The method is applied to four- and five-degrees of freedom limbs.

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