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• W1484703640 abstract "Parallel manipulators have received wide attention in recent years. Their parallel structures offer better load carrying capacity and more precise positioning capability of the endeffector compared to open chain manipulators. In addition, since the actuators can be placed closer to the base or on the base itself the structure can be built lightweight leading to faster systems (Gunawardana & Ghorbel, 1997; Merlet, 1999; Gao et al., 2002 ). It is known that at kinematic singular positions of serial manipulators and parallel manipulators, arbitrarily assigned end-effector motion cannot in general be reached by the manipulator and consequently at those configurations the manipulator loses one or more degrees of freedom. In addition, the closed loop structure of parallel manipulators gives rise to another type of degeneracy, which can be called drive singularity, where the actuators cannot influence the end-effector accelerations instantaneously in certain directions and the actuators lose the control of one or more degrees of freedom. The necessary actuator forces become unboundedly large unless consistency of the dynamic equations are guaranteed by the specified trajectory. The previous studies related to the drive singularities mostly aim at finding only the locations of the singular positions for the purpose of avoiding them in the motion planning stage (Sefrioui & Gosselin, 1995; Daniali et al, 1995; Alici, 2000; Ji, 2003; DiGregorio, 2001; StOnge & Gosselin, 2000). However unlike the kinematic singularities that occur at workspace boundaries, drive singularities occur inside the workspace and avoiding them limits the motion in the workspace. Therefore, methods by which the manipulator can move through the drive singular positions in a stable fashion are necessary. This chapter deals with developing a methodology for the inverse dynamics of parallel manipulators in the presence of drive singularities. To this end, the conditions that should be satisfied for the consistency of the dynamic equations at the singular positions are derived. For the trajectory of the end-effector to be realizable by the actuators it should be designed to satisfy the consistency conditions. Furthermore, for finding the appropriate actuator forces when drive singularities take place, the dynamic equations are modified by using higher order derivative information. The linearly dependent equations are replaced by the modified equations in the neighborhoods of the singularities. Since the locations of the drive singularities and the corresponding modified equations are known (as derived in Section 3), in a practical scenario the actuator forces are found using the modified equations" @default.
• W1484703640 created "2016-06-24" @default.
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• W1484703640 date "2008-04-01" @default.
• W1484703640 modified "2023-10-02" @default.
• W1484703640 title "Singularity Robust Inverse Dynamics of Parallel Manipulators" @default.
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• W1484703640 doi "https://doi.org/10.5772/5378" @default.
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