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High-order singularities of 5R planar parallel robots

Published online by Cambridge University Press:  20 September 2018

Mustafa Özdemir Open the ORCID record for Mustafa Özdemir [Opens in a new window]
Mustafa Özdemir*
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Marmara University, Göztepe Campus, Kadıköy, Istanbul 34722, Turkey
*
*Corresponding author: E-mail: mustafa.ozdemir@marmara.edu.tr
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Summary

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.

Keywords

Parallel manipulatorsPlanar 5R mechanismRobot dynamicsSingularitySingularity order
Type
Articles
Information
Robotica , Volume 37 , Issue 2 , February 2019 , pp. 233 - 245
Copyright
Copyright © Cambridge University Press 2018 

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