Abstract
In this paper, analytic singularity analysis of a 4-DOF parallel robot H4 is addressed. Since a parallel manipulator consisting of several serial chains has complex singularities in the workspace, the determination of singular configurations is very important in design, trajectory planning, and control. The classical method to determine singular configurations is to find the determinant of the Jacobian matrix. However, the Jacobian matrix of a parallel manipulator is complex in general and thus it is not easy to find the determinant of the Jacobian matrix. Therefore, we focus on the analytic singularity analysis of a 4-DOF parallel robot H4 using Jacobian deficiencies. A subset of the whole singularities and the intuitively predictable ones are only derived using Jacobian matrix deficiency. Three type singularities, i.e., overmobility, undermobility and combined singularities, have been presented.
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Recommended by Editorial Board member Dong Hwan Kim under the direction of Editor Jae-Bok Song. This research was supported by the MKE(The Ministry of Knowledge Economy), Korea, under the ITRC(Information Technology Research Center) support program supervised by the NIPA(National IT Industry Promotion Agency) (NIPA-2010-C1090-1031-0006) and BK21 project at GIST.
Hee-Byoung Choi received his B.S., and M.S. degrees in Mechanical Design from Chonbuk National University in 1998, and 2001, respectively and his Ph.D. degree in Department of Aerospace Engineering from Tohoku University, Sendai, Japan in 2004. From 2004 to 2008, he worked for Samsung Heavy Industries Co., Ltd. as a Senior Engineer. Currently, he is a Research Professor with School of Information and Mechatronics, Gwangju Institute of Science and Technology (GIST). His research interests include design, kinematics, dynamics of parallel manipulator, and industrial applications.
Atsushi Konno received his B.Eng., M.Eng., and Ph.D. degrees from the Tohoku University, Sendai, Japan, in 1988, 1990, and 1993, respectively, all in Precision Engineering. He was a Research Associate at Tohoku University from 1993 to 1995, and a research associate at University of Tokyo from 1995 to 1998. Since 1998, he has been with the School of Engineering, Tohoku University, Sendai, Japan and currently is an associate professor of the Space Machines Laboratory, Department of Aeronautics and Space Engineering. His research interests include humanoid robots and their applications.
Masaru Uchiyama received his B.Eng., M.Eng., and Ph.D. degrees from the University of Tokyo, Tokyo, Japan, in 1972, 1974, and 1977, respectively, all in Mechanical Engineering for Production. Since 1977, he has been with the School of Engineering, Tohoku University, Sendai, Japan and currently is a Professor of the Space Machines Laboratory, Department of Aerospace Engineering. He was a Visiting Fellow at the University of Newcastle upon Tyne, England, from 1982 to 1983, a Visiting Professor at the University of California, Santa Barbara, USA, from 1986 to 1987, and a Visiting Professor at the Institute of Space and Astronautical Science, Japan, from 1999 to 2002. His research interests include robotics, automatic control and their application to aerospace engineering.
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Choi, HB., Konno, A. & Uchiyama, M. Analytic singularity analysis of a 4-DOF parallel robot based on Jacobian deficiencies. Int. J. Control Autom. Syst. 8, 378–384 (2010). https://doi.org/10.1007/s12555-010-0224-6
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DOI: https://doi.org/10.1007/s12555-010-0224-6