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Mechanism Synthesis
The Planar-Spherical Kinematic Bond: Implementation in Parallel Mechanisms
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Enumerates the remarkable properties of the planar-spherical bond and its use for the synthesis
of parallel mechanisms. Uses Lie groups. |
Singularity Analysis
Singularity Loci of Planar Parallel Manipulators with Revolute Joints
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Studies the singularity loci curves of planar 3-RRR parallel mechanisms
for a constant orientation of the mobile platform. Proves that the polynomial representing these singularity
loci for all branches is of degree 42.
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The Mystery of the Singular SNU Translational Parallel Robot
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This note explains the puzzling singularity of a translational parallel
manipulator built at Seoul National University. We show that this is, in fact, a new type of singularity which
can be referred to as a constraint singularity. This observation highlights the difficulties encountered in
singularity analysis of parallel mechanisms with fewer than 6 degrees of freedom.
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Constraint Singularities
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This report is a follow-up of the one explaining the puzzling
singularity of a translational parallel manipulator built at Seoul National University. It examines the
constraint singularity phenomenon in a more general context.
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Constraint Singularities as Configuration Space Singularities
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This report continues our examination of the phenomenon of constraint singularity.
We focus our attention on the fact that constraint singularities always represent singular
points of the configuration space of the kinematic chain. As such they separate distinct
regions of the configuration space and may allow transitions between dramatically different
operation modes. All this is examplified by the fascinating example of a multi-operational
parallel mechanism that can undergo a variety of transformation when passing through singular
configurations.
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