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Management of parallel-manipulator singularities using joint-coupling

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Joint-coupling (JC) is introduced in the design and control of parallel manipulators for managing manipulator singularities. The underlying idea consists of coupling the motions of several manipulator joints by driving the joints with a single actuator. This can be done by mechanical or electronic means, while preserving the mobility of the manipulator. Such JC is intended to alter the direct singularity condition of parallel manipulators upon changing the coupling coefficients. Both 2- and 3-d.o.f. planar parallel manipulator examples are provided to illustrate the concept of JC and singularity management. The prototype of a JC device and its associated 2-d.o.f. parallel manipulator intended for a feasibility study is introduced.


Document Type: Research Article


Affiliations: 1: School of Mechanical and Production Engineering, Nanyang Technological University, Singapore 639798 2: Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, Quebec, Canada H3A 2K6

Publication date: 2007-05-01

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