Flagged Parallel Manipulators

The conditions for a parallel manipulator to be flagged can be simply expressed in terms of linear dependencies between the coordinates of its leg attachments, both on the base and on the platform. These dependencies permit to describe the manipulator singularities in terms of incidences between two...

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Bibliographic Details
Published in:IEEE transactions on robotics 2007-10, Vol.23 (5), p.1013-1023
Main Authors: Alberich-Carraminana, M., Thomas, F., Torras, C.
Format: Article
Language:English
Subjects:
Accessories
Actuators
Applied sciences
Automation
Classificació INSPEC
Computer science
control theory
systems
Control systems
Control theory. Systems
Drives
Electric breakdown
Exact sciences and technology
Flag manifold
Informàtica
Jacobian matrices
kinematics singularities
Leg
Linkage mechanisms, cams
Loci
Manipulation
manipulator design
manipulator singularities
Manipulators
Manufacturing cells
Mechanical engineering. Machine design
Names
Orbital robotics
parallel manipulators
Parallel robots
Platforms
Polynomials
Robot arms
Robot kinematics
Robotics
Robots
Robòtica
Singularities
stratification
Topology
Àrees temàtiques de la UPC
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Description
Summary:The conditions for a parallel manipulator to be flagged can be simply expressed in terms of linear dependencies between the coordinates of its leg attachments, both on the base and on the platform. These dependencies permit to describe the manipulator singularities in terms of incidences between two flags (hence, the name ldquoflaggedrdquo). Although these linear dependencies might look, at first glance, too restrictive, in this paper, the family of flagged manipulators is shown to contain large subfamilies of six-legged and three-legged manipulators. The main interest of flagged parallel manipulators is that their singularity loci admit a well-behaved decomposition with a unique topology irrespective of the metrics of each particular design. In this paper, this topology is formally derived and all the cells, in the configuration space of the platform, of dimension 6 (nonsingular) and dimension 5 (singular), together with their adjacencies, are worked out in detail.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2007.903819