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Singularity Analysis of Platform-type Multi-loop Spatial Mechanisms

Dheeman, Basu and Ashitava, Ghosal (1997) Singularity Analysis of Platform-type Multi-loop Spatial Mechanisms. In: Mechanism and Machine Theory, 32 (3). pp. 375-389.

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Abstract

In parallel manipulators and multi-loop mechanisms, singularity is associated with either loss or gain of a degree of freedom. This paper deals with the singularity analysis associated with gain of degree of freedom in a class of spatial mechanisms. We present a geometric condition for platform-type, multi-loop, mechanisms and parallel manipulators, containing spherical joints on the platform, whose existence ensures singularity in such mechanisms. The geometric condition is based on the concept of a common tangent. We show that this condition also implies that the determinant of certain matrices, formed by the differentiation of the loop-closure equations, are zero. We illustrate our results with the help of several multi-loop mechanisms. In particular, we describe the singularity surface for the three-degree-of- freedom RPSSPR-SPR ‘wrist’ mechanism.

Item Type: Journal Article
Additional Information: Copyright of this article belongs to Elsevier.
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 19 Apr 2007
Last Modified: 19 Sep 2010 04:37
URI: http://eprints.iisc.ernet.in/id/eprint/10706

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