Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Skip to main content
Springer Nature Link
Log in

Architecture Selection and Singularity Analysis of a Three-Degree-of-Freedom Planar Parallel Manipulator

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

A three degree-of-freedom planar parallel manipulator, intended for high-speed, high-precision wire-bonding and electronic-component placement tasks, has been developed in our laboratory. In this paper, the work related to the kinematic manipulator-architecture selection is presented. The reachable workspace and “effective base area” metrics of the parallel manipulator were utilized for selecting the best possible architecture amongst six potential configurations. Constant platform-orientation regions, within the reachable workspace of the selected manipulator, were identified based on the manipulator task requirements. Simulation results for the workspace analyses (reachable workspace, effective base areas, and constant-orientation regions) are presented in this paper. Once the optimal-workspace architecture was selected, both workspace-boundary and internal singularities were further investigated in order to have a clear view of the set of uncontrollable poses of the manipulator. Singularity analyses examples are also included herein.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Ben-Horin, R., Shoham, M., and Djerassi, S.: Kinematics, dynamics and construction of a planarly actuated parallel robot, Robotics Computer Integrated Manufacturing 14(2) (1998), 163–172.

    Article  Google Scholar 

  2. Carretero, J. A., Nahon, M., and Podhorodeski, R. P.: Workspace analysis of a 3-dof parallel mechanism, in: Proc. of the IEEE/SRJ Internat. Conf. on Intelligent Robots and Systems, Victoria, BC, Canada, 1998, pp. 1021–1026.

  3. Cleary, K. and Arai, T.: A prototype parallel manipulator: Kinematics, construction, software, workspace results, and singularity analysis, in: IEEE Proc. of the Internat. Conf. on Robotics and Automation, Sacramento, CA, 1991, pp. 566–571.

  4. Gosselin, C.: Determination of the workspace of 6-dof parallel manipulators, ASME Trans. J. Mech. Design 112(3) (1990), 331–336.

    Google Scholar 

  5. Gosselin, C. M. and Angeles, J.: The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator, ASME J. Mechanisms Transmissions Automat. Design 110(1) (1988), 35–41.

    Google Scholar 

  6. Gosselin, C. and Angeles, J.: Singularity analysis of closed-loop kinematic chains, IEEE Trans. Robotics Automat. 6(3) (1990), 281–290.

    Article  Google Scholar 

  7. Gosselin, C. M., Lemieux, S., and Merlet, J. P.: A new architecture of planar three-degree-of-freedom parallel manipulator, in: IEEE Proc. of the Internat. Conf. on Robotics and Automation, Minneapolis, MN, 1996, pp. 3738–3743.

  8. Gough, V. E.: Contribution to discussion of papers on research in automobile stability, control and tyre performance, Proc. of the Institution of Mech. Engineers Auto Division (1956/1957), 392–394.

  9. Kang, B., Chu, J., and Mills, J. K.: Design of high speed planar parallel manipulator and multiple simultaneous specification control, in: IEEE Proc. of the Internat. Conf. on Robotics and Automation, Seoul, South Korea, 2001, pp. 2723–2728.

  10. Kang, B. and Mills, J. K.: Dynamic modeling and vibration control of high speed planar parallel manipulator, in: Proc. of IEEE/RJS Internat. Conf. on Intelligent Robots and Systems, Maui, Hawaii, 2001, pp. 1287–1292.

  11. Liu, X., Wang, J., and Gao, F.: On the optimum design of planar 3-dof parallel manipulators with respect to the workspace, in: IEEE Proc. of the Internat. Conf. on Robotics and Automation, San Francisco, CA, 2000, pp. 4122–4127.

  12. Ma, O. and Angeles, J.: Architecture singularities of platform manipulators, in: IEEE Proc. of the Internat. Conf. on Robotics and Automation, Sacramento, CA, 1991, pp. 1542–1547.

  13. Merlet, J. P.: Workspace-oriented methodology for designing a parallel manipulator, in: IEEE Proc. of the Internat. Conf. on Robotics and Automation, Minneapolis, MN, 1996, pp. 3726–3731.

  14. Merlet, J. P.: Direct kinematics of planar parallel manipulators, in: IEEE Proc. of the Internat. Conf. on Robotics and Automation, Minneapolis, MN, 1996, pp. 3744–3749.

  15. Merlet, J. P.: Parallel Robots, Kluwer, Boston, 2000.

    Google Scholar 

  16. Mohammadi Daniali, H. R., Zsombor-Murray, P. J., and Angeles, J.: Singularity analysis of a general class of planar parallel manipulators, in: IEEE Proc. of the Internat. Conf. on Robotics and Automation, Nagoya, Japan, 1995, pp. 1547–1552.

  17. Ottaviano, E., Gosselin, C. M., and Ceccarelli, M.: Singularity analysis of CaPaMan: A three-degree of freedom spatial parallel manipulator, in: IEEE Proc. of the Internat. Conf. on Robotics and Automation, Seoul, South Korea, 2001, pp. 1295–1300.

  18. Rolland, L.: About parallel robots, http://www.loria.fr/~rolland/apropos_eng.html.

  19. Sefrioui, J. and Gosselin, C. M.: Singularity analysis and representation of planar parallel manipulators, J. Robotics Autonom. Systems 10(4) (1992), 209–224.

    Article  Google Scholar 

  20. Sefrioui, J. and Gosselin, C. M.: On the quadratic nature of the singularity curves of planar three-degree-of-freedom parallel manipulators, Mechanism Mach. Theory 30(4) (1995), 533–551.

    Article  Google Scholar 

  21. Stewart, D.: A platform with 6 degrees of freedom, Proc. of the Institution of Mech. Engineers 180(1) (1965), 371–386.

    Google Scholar 

  22. Thomas, M. and Wyner, A. (eds): Advanced Robot Control, Lecture Notes in Control and Information Sciences, Springer, New York, 1990, pp. 285–303.

    Google Scholar 

  23. Tsai, L.: Robot Analysis – The Mechanics of Serial and Parallel Manipulators, Wiley, New York, 1999.

    Google Scholar 

  24. Tsai, L. W. and Joshi, S.: Comparison study of architectures of four 3-degree-of-freedom translational parallel manipulators, in: IEEE Proc. of the Internat. Conf. on Robotics and Automation, Seoul, South Korea, 2001, pp. 1283–1288.

Download references

Author information

Authors and Affiliations

  1. Computer Integrated Manufacturing (CIM) Laboratory, Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Rd., Toronto, ON, M5S 3G8, Canada

    Imtehaze Heerah & Beno Benhabib

  2. Non-linear Systems Control Laboratory, Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Rd., Toronto, ON M5S 3G8, Canada

    Bongsoo Kang & James K. Mills

Authors
  1. Imtehaze Heerah
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Beno Benhabib
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Bongsoo Kang
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. James K. Mills
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Beno Benhabib.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Heerah, I., Benhabib, B., Kang, B. et al. Architecture Selection and Singularity Analysis of a Three-Degree-of-Freedom Planar Parallel Manipulator. Journal of Intelligent and Robotic Systems 37, 355–374 (2003). https://doi.org/10.1023/A:1026163319039

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1023/A:1026163319039

Search

Navigation