Engineering Mechanics

Proceedings Vol. 9 (2003)

ENGINEERING MECHANICS 2003

Copyright © 2003 Institute of Theoretical and Applied Mechanics, Academy of Sciences of the Czech Republic, v.v.i., Prague

 

Belda K., Stejskal V.
pages 26 - +8p., full text

Singular cases - singularities of the robot are defined as positions in which the robot loses kinematic definiteness. The loss appears in both direct and inverse kinematic transformation. Existence of the singularities in the robot workspace causes sharp changes in profiles of the velocities and accelerations and changes in force effects. The objective of this paper is to investigate singularities (singular positions) of one parallel robot structure and to simply classify such singular cases. The analysis of the singularities is important for real application, i.e. for control design, which should ensure effective and safe cooperation of all drives - actuators in the robot structure.

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