Dynamic analysis of planar parallel robots considering singularities and different payloads

ÖZDEMİR M.

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, cilt.46, ss.114-121, 2017 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 46
  • Basım Tarihi: 2017
  • Doi Numarası: 10.1016/j.rcim.2017.01.005
  • Dergi Adı: ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.114-121
  • Anahtar Kelimeler: Parallel robot, Dynamics, Singularity, Payload handling, Motion planning, CLOSED-LOOP MECHANISMS, INVERSE DYNAMICS, MANIPULATORS, WORKSPACE, DESIGN, TRAJECTORIES, REDUNDANCY
  • Marmara Üniversitesi Adresli: Evet

Özet

This paper studies the effects of payload inertial parameters on its consistent locations for a planar three degree-of-freedom parallel manipulator in the presence of singularities. It is analytically shown that for a given motion, the consistent locations of different payloads form in general concentric circles on the moving platform plane. A motion planning method is also introduced for planar three-degree-of-freedom parallel manipulators passing through a singular configuration with different payloads. Within these scopes, eleven propositions are stated and proved. This work is believed to be highly useful for a wide range of industrial purposes, especially by providing great flexibility and ease for pick-and-place operations.