COORDINATE INFLUENCE ON SINGULARITY OF A 3-UPS PARALLEL MANIPULATOR
Publish place: Journal of Computational and Applied Research in Mechanial Engineering، Vol: 1، Issue: 1
Publish Year: 1391
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_JCARME-1-1_006
تاریخ نمایه سازی: 17 خرداد 1393
Abstract:
This paper shows the coordinates influence on singularity of a three degree-of-freedom structure, namely, three-Universal-Prismatic-Spherical (3-UPS) parallel manipulator. Rotational coordinates, which are chosen to define theorientation of the platform, affect the singularity of the manipulator. Euler parameters, which don't have any inherent geometrical singularity are utilized, however they are dependent coordinates. This paper shows the advantage of Euler parameters rather than Euler angles as the rotational coordinates for the manipulator. Additionally, the real loci of singularity for the manipulator due to its structure are predicted
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Authors
a Rahmani Hanzaki
Shahid Rajaee Teacher Training University, Lavizan, Tehran, Iran
e Yoosefi
Shahid Rajaee Teacher Training University, Lavizan, Tehran, Iran