Type-II singularities exist in parallel manipulators commonly. At this kind of singularities, the end-effector is locally movable and uncertain even when all the actuate joints are located. In order to explore a possible approach to obtain the concrete output of the mobile platform at the very small vicinity (germ space) of the singular point, in this paper, the configuration bifurcation characteristics at the germ space have been investigated. At first, the type-II singularity has been identified with Golubitsky-Schaeffer normal form. The result shows that the type-II singular points belong to the turning points. Then, the configuration bifurcation equation is reduced into one dimensional form. Based on this one dimensional equation, the unperturbed and perturbed configuration bifurcation behaviors at the germ space of the turning point have been analyzed. It is found that all configuration branches converged in the same singular point in the unperturbed system can be separated in the perturbed system. This discovery has presented a possible approach to control the parallel manipulator passing through the singular point with a desired configuration.
Skip Nav Destination
ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 4–7, 2007
Las Vegas, Nevada, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4809-4
PROCEEDINGS PAPER
Configuration Bifurcation Characteristics of the Semi-Regular Hexagon Gough-Stewart Parallel Manipulator
Yu-Xin Wang,
Yu-Xin Wang
Zhejiang University, Hangzhou, Zhejiang, China
Search for other works by this author on:
Yu-Tong Li,
Yu-Tong Li
Zhejiang University, Hangzhou, Zhejiang, China
Search for other works by this author on:
Yi-Ming Wang,
Yi-Ming Wang
College of Geography & Disseminator, Beijing, China
Search for other works by this author on:
Xiu-Tian Yan
Xiu-Tian Yan
University of Strathclyde, Glascow, Scotland, UK
Search for other works by this author on:
Yu-Xin Wang
Zhejiang University, Hangzhou, Zhejiang, China
Yu-Tong Li
Zhejiang University, Hangzhou, Zhejiang, China
Yi-Ming Wang
College of Geography & Disseminator, Beijing, China
Xiu-Tian Yan
University of Strathclyde, Glascow, Scotland, UK
Paper No:
DETC2007-35260, pp. 1119-1123; 5 pages
Published Online:
May 20, 2009
Citation
Wang, Y, Li, Y, Wang, Y, & Yan, X. "Configuration Bifurcation Characteristics of the Semi-Regular Hexagon Gough-Stewart Parallel Manipulator." Proceedings of the ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B. Las Vegas, Nevada, USA. September 4–7, 2007. pp. 1119-1123. ASME. https://doi.org/10.1115/DETC2007-35260
Download citation file:
4
Views
0
Citations
Related Proceedings Papers
Related Articles
Configuration Bifurcations Analysis of Six Degree-of-Freedom Symmetrical Stewart Parallel Mechanisms
J. Mech. Des (January,2005)
Disturbed Configuration Bifurcation Characteristics of Gough–Stewart Parallel Manipulators at Singular Points
J. Mech. Des (February,2008)
A Geometric Approach for Determining Inner and Exterior Boundaries of Workspaces of Planar Manipulators
J. Mech. Des (February,2008)
Related Chapters
Dynamic Behavior in a Singular Delayed Bioeconomic Model
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)
Two-Dimension Simulation of a Red Blood Cell Partitioning in Microvascular Bifurcation
International Conference on Software Technology and Engineering (ICSTE 2012)
Adaptive Fuzzy Compensation Control for Manipulator in Reduction Cell Monitor
International Conference on Computer Technology and Development, 3rd (ICCTD 2011)