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Comparative Analysis of Quasi-Differential Approaches in Inverse Kinematics Read chapter Read first chapter

2018 | OriginalPaper | Chapter

Analysis of Constraint Singularities of a 2-DOF Spatial Parallel Mechanism

Authors : Stefano Mauro, Gabriele Biondi

Published in: Advances in Service and Industrial Robotics

Publisher: Springer International Publishing

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Abstract

This paper considers the kinematic analysis of a 2 dof closed-loop chain for the night-sky observation known as the Canterbury tracker. Closed-loop mechanisms are characterized by a higher number of joints than dofs, so kinematic constraints act to make dependent their configurations. For some configurations of the joints, it is possible that one or more constraints become redundant, giving instantaneously extra dofs to the mechanism. Thus, conventional input-output singularities do not represent the unique possibility of having controllability issues. In this paper, the screw theory is exploited to determine singular configurations of the proposed trackers. According to the results of this analysis, the geometric parameters of the mechanism are chosen to make it suitable for solar tracking purpose, taking into account the existence of these singular configurations to avoid tracking failures.

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Metadata
Title
Analysis of Constraint Singularities of a 2-DOF Spatial Parallel Mechanism
Authors
Stefano Mauro
Gabriele Biondi
Copyright Year
2018
Book
Advances in Service and Industrial Robotics

Print ISBN: 978-3-319-61275-1

Electronic ISBN: 978-3-319-61276-8

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-61276-8_4