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Research Papers

On the Dynamic Properties of Flexible Parallel Manipulators in the Presence of Type 2 Singularities

[+] Author and Article Information
Sébastien Briot1

 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: Sebastien.Briot@irccyn.ec-nantes.fr

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: vigen.arakelyan@insa-rennes.fr

1

Corresponding author.

J. Mechanisms Robotics 3(3), 031009 (Aug 10, 2011) (8 pages) doi:10.1115/1.4004229 History: Received October 05, 2010; Revised April 21, 2011; Published August 10, 2011; Online August 10, 2011

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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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 1

Kinematic chain of the planar 5R parallel manipulator

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Figure 2

Type 2 singular configurations of the planar 5R parallel manipulator

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Figure 3

Initial, singular and final positions of the planar 5R parallel manipulator

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Figure 4

Torques values for the actuator 1

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Figure 5

Torques values for the actuator 2

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