Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2000.11a
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- Pages.207-210
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- 2000
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- 2005-8446(pISSN)
Singularity Analysis of a Cubic Parallel Manipulator
육면형 병렬기구의 특이점 해석
Abstract
Singular points are those at which the determinant of a Jacobian matrix is zero. A parallel manipulator gains mostly an extra DOF at the singular points, where it can not be properly controlled. In this study, singular points of a cubic parallel manipulator are illustrated by obtaining the determinant of a Jacobian matrix mathematically, and the singular points of the manipulator are found to be three separate planes in a 3D space. The dependency among links for each singular point is determined by applying linear algebra. Also, the singular points and workspace of the cubic parallel manipulator are plotted to check if the workspace contain singular points.
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