In the present paper, we expand information about the conditions for passing through Type 2 singular configurations of a parallel manipulator. It is shown that any parallel manipulator can cross the singular configurations via an optimal control permitting the favorable force distribution, i.e., the wrench applied on the end-effector by the legs and external efforts must be reciprocal to the twist along with the direction of the uncontrollable motion. The previous studies have proposed the optimal control conditions for the manipulators with rigid links and flexible actuated joints. The different polynomial laws have been obtained and validated for each examined case. The present study considers the conditions for passing through Type 2 singular configurations for the parallel manipulators with flexible links. By computing the inverse dynamic model of a general flexible parallel robot, the necessary conditions for passing through Type 2 singular configurations are deduced. The suggested approach is illustrated by a 5R parallel manipulator with flexible elements and joints. It is shown that a 16th order polynomial law is necessary for the optimal force generation. The obtained results are validated by numerical simulations carried out using the software ADAMS.
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August 2011
Research Papers
On the Dynamic Properties of Flexible Parallel Manipulators in the Presence of Type 2 Singularities
Sébastien Briot,
Sébastien Briot
Institut de Recherches en Communications et Cybernétique
, de Nantes (IRCCyN), UMR CNRS 6597, 1 rue de la Noë, BP 92101, 44321 Nantes Cedex 3, France
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Vigen Arakelian
Vigen Arakelian
Département de Génie Mécanique et Automatique - L.G.C.G.M. EA3913,
Institut National des Sciences Appliquées (I.N.S.A.)
, 20 avenue des Buttes de Coësmes – CS 14315, F-35043 Rennes, France
e-mail:
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Sébastien Briot
Institut de Recherches en Communications et Cybernétique
, de Nantes (IRCCyN), UMR CNRS 6597, 1 rue de la Noë, BP 92101, 44321 Nantes Cedex 3, France
e-mail:
Vigen Arakelian
Département de Génie Mécanique et Automatique - L.G.C.G.M. EA3913,
Institut National des Sciences Appliquées (I.N.S.A.)
, 20 avenue des Buttes de Coësmes – CS 14315, F-35043 Rennes, France
e-mail: J. Mechanisms Robotics. Aug 2011, 3(3): 031009 (8 pages)
Published Online: August 10, 2011
Article history
Received:
October 5, 2010
Revised:
April 21, 2011
Online:
August 10, 2011
Published:
August 10, 2011
Citation
Briot, S., and Arakelian, V. (August 10, 2011). "On the Dynamic Properties of Flexible Parallel Manipulators in the Presence of Type 2 Singularities." ASME. J. Mechanisms Robotics. August 2011; 3(3): 031009. https://doi.org/10.1115/1.4004229
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