Conference proceeding
Workspace Analysis and Visualization of Mechanical Manipulators With Non-Unilateral Constraints
Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B, Vol.7, pp.717-726
ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, California, USA, Sept. 24 - 28, 2005
01/01/2005
DOI: 10.1115/DETC2005-84180
Abstract
An analytical method is presented to obtain all surfaces enveloping the workspace of a general n degree-of-freedom mechanism with non-unilateral constraints. The method is applicable to kinematic chains that can be modeled using the Denavit-Hartenberg representation method for serial manipulators. The method introduced in this paper is based upon analytical criteria for determining singular behavior of the mechanism. A perturbation approach is implemented to determine the interior and exterior of the workspace. The complete mathematical formulation is presented and illustrated using 3 and 4 DOF spatial manipulators. The paper present a rigorous analysis of the sub-Jacobians to determine a classification of singularities: Type I sets are position Jacobian singularities; Type II sets are instantaneous singularities that are due to a generalized joint that is reaching its apex; Type III sets are domain boundary singularities, which are associated with the initial and final values of the time interval; Type IV sets are coupled singularities, which are associated with a relative singular Jacobian, where the null space is reduced in one submatrix due to either of two occurrences: a Type II or Type III singularities. The paper presents a general formulation for determining the workspace.
Details
- Title: Subtitle
- Workspace Analysis and Visualization of Mechanical Manipulators With Non-Unilateral Constraints
- Creators
- Jingzhou Yang - University of IowaKarim Abdel-Malek - University of Iowa
- Resource Type
- Conference proceeding
- Publication Details
- Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B, Vol.7, pp.717-726
- Conference
- ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, California, USA, Sept. 24 - 28, 2005
- DOI
- 10.1115/DETC2005-84180
- Publisher
- ASMEDC
- Language
- English
- Date published
- 01/01/2005
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984196526602771
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