TY - JOUR
T1 - Forward Kinematics and Singularity Analyses of an Uncoupled Parallel Manipulator by Algebraic Screw Theory
AU - Gallardo-Alvarado, Jaime
AU - Garcia-Murillo, Mario A.
AU - Alcaraz-Caracheo, Luis A.
AU - Torres, Felipe J.
AU - Sandoval-Castro, X. Yamile
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2022
Y1 - 2022
N2 - In this contribution, the Jacobian analysis of a four-legged six-degrees-of-freedom decoupled parallel manipulator is carried out through the screw theory. As an intermediate step, for the sake of completeness the inverse/forward displacement analysis as well as the computation of the workspace of the robot are achieved by taking advantage of the decoupled orientation and position of the moving platform. Afterward, the input/output equation of velocity of the parallel robot is obtained by harnessing of the properties of reciprocal screw systems. Once the Jacobian matrices are identified and investigated, the analysis of singularities for the robot manipulator emerges as a natural application of the Jacobian analysis. Numerical examples are included with the purpose to show the practicality and versatility of the method of kinematic analysis. Furthermore, the numerical results obtained by means of the theory of screws are successfully verified with the aid of commercially available software like ADAMS.
AB - In this contribution, the Jacobian analysis of a four-legged six-degrees-of-freedom decoupled parallel manipulator is carried out through the screw theory. As an intermediate step, for the sake of completeness the inverse/forward displacement analysis as well as the computation of the workspace of the robot are achieved by taking advantage of the decoupled orientation and position of the moving platform. Afterward, the input/output equation of velocity of the parallel robot is obtained by harnessing of the properties of reciprocal screw systems. Once the Jacobian matrices are identified and investigated, the analysis of singularities for the robot manipulator emerges as a natural application of the Jacobian analysis. Numerical examples are included with the purpose to show the practicality and versatility of the method of kinematic analysis. Furthermore, the numerical results obtained by means of the theory of screws are successfully verified with the aid of commercially available software like ADAMS.
KW - Kinematics
KW - Parallel robot
KW - Screw theory
KW - Singular posture
KW - Uncoupled kinematics
UR - http://www.scopus.com/inward/record.url?scp=85122566160&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2021.3139644
DO - 10.1109/ACCESS.2021.3139644
M3 - Artículo
AN - SCOPUS:85122566160
SN - 2169-3536
VL - 10
SP - 4513
EP - 4522
JO - IEEE Access
JF - IEEE Access
ER -