High-order singularities of 5R planar parallel robots

ÖZDEMİR M.

ROBOTICA, cilt.37, sa.2, ss.233-245, 2019 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 37 Sayı: 2
  • Basım Tarihi: 2019
  • Doi Numarası: 10.1017/s0263574718000966
  • Dergi Adı: ROBOTICA
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.233-245
  • Anahtar Kelimeler: Parallel manipulators, Planar 5R mechanism, Robot dynamics, Singularity, Singularity order, INVERSE DYNAMICS, MOTION CONTROL, FREE ZONES, MANIPULATORS, MECHANISMS, WORKSPACE, MACHINE, DESIGN, ACTUATION, KINEMATICS
  • Marmara Üniversitesi Adresli: Evet

Özet

Singularity analysis of parallel manipulators is an active research field in robotics. The present article derives for the first time in the literature a condition under which a five-bar parallel robot encounters high-order parallel singularities. In this regard, by focusing on the planar 5R mechanism, a theorem is given in terms of the slope of its coupler curve at the parallel singular configurations. At high-order parallel singularities, the associated determinant vanishes simultaneously with at least its first-order time derivative. The determination of such singularities is quite important since in their presence, some special conditions should be satisfied for bounded inverse dynamic solutions.