Original title:
Singular cases of the planar parallel robot
Authors:
Belda, Květoslav ; Stejskal, V. Document type: Papers Conference/Event: Engineering Mechanics 2003, Svratka (CZ), 2003-05-12 / 2003-05-15
Year:
2003
Language:
eng Abstract:
Singular cases - singularities of the robot are defined as positions in which the robot loses kinematic definiteness. The loss appears in both direct and inverse kinematic transformation. Existence of the singularities in the robot workspace causes sharp changes in profiles of the velocities and accelerations and changes in force effects. The objective of this paper is to investigate singularities (singular positions) of one parallel robot structure and to simply classify such singular cases.
Keywords:
kinematic transformations; planar parallel robot; singular analysis Project no.: CEZ:AV0Z1075907 (CEP), GA101/03/0620 (CEP) Funding provider: GA ČR Host item entry: Engineering Mechanics 2003