Singularity analysis of 2-dof parallel manipulator

Jong Gyu Lee, Sang Ryong Lee, Choon Young Lee, Seung Han Yang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The end-effector of 2-DOF parallel manipulator has an orientation. Jacobian matrices are obtained by kinematic analysis. The singular configurations of the manipulator are found using these matrices and the certain characteristic of these configurations is investigated. With the result from simulation, we found that these configurations happened to workspace-interior as well as workspace-boundary and the orientation angle of the end-effector exerted a strong influence on the singularity of the manipulator.

Original languageEnglish
Title of host publicationAdvanced Materials Design and Mechanics
Pages587-592
Number of pages6
DOIs
StatePublished - 2012
Event2012 International Conference on Advanced Materials Design and Mechanics, ICAMDM 2012 - Xiamen, China
Duration: 5 Jun 20127 Jun 2012

Publication series

NameAdvanced Materials Research
Volume569
ISSN (Print)1022-6680

Conference

Conference2012 International Conference on Advanced Materials Design and Mechanics, ICAMDM 2012
Country/TerritoryChina
CityXiamen
Period5/06/127/06/12

Keywords

  • Jacobian matrices
  • Parallel manipulator
  • Singularity

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