AN APPLICATION OF SCREW THEORY FOR THE IDENTIFICATION OF SINGULARITIES IN A NOVEL RECONFIGURABLE PARALLEL ROBOT
DOI:
https://doi.org/10.5377/nexo.v29i2.4575Keywords:
Screw theory, Jacobian matrix, Singularity analyses, Reconfiguration, Parallel robotAbstract
This paper reports the application of the screw theory as a tool for the determination of the singular configurations of a reconfigurable parallel robot composed of two parallel sub-manipulators. The Jacobian matrices of the robot, key elements for the identification of singularities, are easily determined when the input-output equation of velocity of the robot is obtained by the application of some screw theory basic operations. Through this application, the inverse, direct and combined singularities are clearly identified, and their graphical representations can be obtained almost intuitively.Downloads
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Published
2016-12-31
How to Cite
Sanchez-Alonso, R. (2016). AN APPLICATION OF SCREW THEORY FOR THE IDENTIFICATION OF SINGULARITIES IN A NOVEL RECONFIGURABLE PARALLEL ROBOT. Nexo Scientific Journal, 29(2), 59–68. https://doi.org/10.5377/nexo.v29i2.4575
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