Singularity analysis of two-legged planar parallel robots with three degrees of freedom


ÖZDEMİR M.

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, cilt.232, sa.4, ss.657-664, 2018 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 232 Konu: 4
  • Basım Tarihi: 2018
  • Doi Numarası: 10.1177/0954406216684160
  • Dergi Adı: PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
  • Sayfa Sayıları: ss.657-664

Özet

Planar two-legged parallel robots with three degrees of freedom have been suggested in the literature as a solution to reduce the leg interference problem of their conventional three-legged counterparts, and since then have attracted considerable attention. This paper presents a singularity analysis of these robots. Three alternatives, namely the robots with 2-RRR, 2-RPR, and 2-PRR structures are considered. Type I, II, and III singularity conditions are obtained taking into account all possible actuation schemes. Several singularity-free actuation schemes are enumerated and discussed. The performed analysis also shows that adjustable designs are possible for manipulators with 2-PRR structures to have singularity-free operation. The proposed design concept and its effectiveness are illustrated through numerical examples.