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Partially flagged parallel manipulators: singularity charting and avoidance
Alberich Carramiñana, Maria; Garolera, M; Thomas, Federico; Torras, Carme
Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada I; Universitat Politècnica de Catalunya. Departament de Llenguatges i Sistemes Informàtics; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
There are only three 6-SPS parallelmanipulatorswith triangular base and platform, i.e., the octahedral, the flagged, and the partially flagged, which are studied in this paper. The forward kinematics of the octahedralmanipulator is algebraically intricate, while those of the other two can be solved by three trilaterations. As an additional nice feature, the flagged manipulator is the only parallel platform for which a cell decomposition of its singularity locus has been derived. Here, we prove that the partially flagged manipulator also admits a well-behaved decomposition, technically called a stratification, some of whose strata are not topological cells,however. Remarkably, the adjacency diagram of the 5-D and 6-D strata (which shows what 5-D strata are contained in the closure ofa 6-D one) is the same as for the flaggedmanipulator. The availability of such a decomposition permits devising a redundant 7-SPS manipulator, combining two partially flagged ones, which admits a control strategy that completely avoids singularities. Simulation results support these claims.
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robots -- Dynamics
Configuration space
kinematics singularities
parallel manipulators
redundant manipulators
robot design.
Robots -- Dinàmica
Classificació INSPEC::Automation::Robots::Robot kinematics
Open Access

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