Inverse dynamics of parallel manipulators in the presence of drive singularities


Ider S.

MECHANISM AND MACHINE THEORY, vol.40, no.1, pp.33-44, 2005 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 40 Issue: 1
  • Publication Date: 2005
  • Doi Number: 10.1016/j.mechmachtheory.2004.05.007
  • Title of Journal : MECHANISM AND MACHINE THEORY
  • Page Numbers: pp.33-44
  • Keywords: parallel manipulator, inverse dynamics, singularity, drive singularity, desingularization

Abstract

At drive singularities of parallel manipulators the actuators lose control of the end-effector in certain directions. It is shown that if certain conditions related to the consistency of the dynamic equations are satisfied by a proper design of the trajectory, the manipulator can pass through the singular positions while the actuator forces and the system motion remain stable. To find the values of the actuator forces in the neighborhood of the drive singularities, the dynamic equations are modified by using higher order derivative information. (C) 2004 Elsevier Ltd. All rights reserved.