Mechanisms' instantaneous kinematics is modeled by linear and homogeneous mappings whose coefficient matrices are also meaningful to understand their static behavior through the virtual work principle. The analysis of these models is a mandatory step during design. The superposition principle can be used for building and studying linear and homogeneous models. Here, multi-degree-of-freedom (multi-DOF) spherical mechanisms are considered. Their instantaneous-kinematics model is written by exploiting instantaneous-pole-axes' (IPA) properties and the superposition principle. Then, this general model is analyzed and an exhaustive analytic and geometric technique to identify all their singular configurations is deduced. Eventually, the effectiveness of the deduced technique is shown with two relevant case studies.
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August 2015
Research-Article
Analytic and Geometric Technique for the Singularity Analysis of Multi-Degree-of-Freedom Spherical Mechanisms
Raffaele Di Gregorio
Raffaele Di Gregorio
Department of Engineering,
FERRARA 44122,
e-mail: rdigregorio@ing.unife.it
University of Ferrara
,Via Saragat, 1
,FERRARA 44122,
Italy
e-mail: rdigregorio@ing.unife.it
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Raffaele Di Gregorio
Department of Engineering,
FERRARA 44122,
e-mail: rdigregorio@ing.unife.it
University of Ferrara
,Via Saragat, 1
,FERRARA 44122,
Italy
e-mail: rdigregorio@ing.unife.it
1The right subscript m × n denotes the size of the matrix. In this case, the number of rows, m, is equal to the number of velocity constraints, and the number of column, n, is equal to the total number of joint variables. In a mechanism, n is always greater than m since a number of independent constraints equal to n would lead to zero mobility (i.e., to a structure).
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received September 5, 2013; final manuscript received August 30, 2014; published online December 4, 2014. Assoc. Editor: Andrew P. Murray.
J. Mechanisms Robotics. Aug 2015, 7(3): 031008 (9 pages)
Published Online: August 1, 2015
Article history
Received:
September 5, 2013
Revision Received:
August 30, 2014
Online:
December 4, 2014
Citation
Di Gregorio, R. (August 1, 2015). "Analytic and Geometric Technique for the Singularity Analysis of Multi-Degree-of-Freedom Spherical Mechanisms." ASME. J. Mechanisms Robotics. August 2015; 7(3): 031008. https://doi.org/10.1115/1.4028625
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