A New Method for Limb Singularity Analysis of Parallel Manipulators

Semaan Amine (1) , Ossama Mokhiamar (1) , Stéphane Caro (2, 3, 4)

1 BAU - Beirut Arab University [Beyrouth, Liban]
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 CNRS - Centre National de la Recherche Scientifique
4 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services

This paper presents a new method for analyzing the limb singularities of lower-mobility parallel manipulators using the superbracket of Grassmann-Cayley algebra. For lower-mobility limbs, the limb twist system does not form a 6 × 6 matrix. The proposed method allows forming a Jacobian matrix, and thus, a superbracket for any lower-mobility limb by adding twists that correspond to the limb's constrained motion(s). The method is applied to four-and five-degrees of freedom limbs.

Mots clés: limb singularity; screw theory; Grassmann- Cayley algebra; superbracket

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

Semaan Amine, Ossama Mokhiamar, Stéphane Caro. A New Method for Limb Singularity Analysis of Parallel Manipulators. International Journal of Robotics and Automation, 2019, 34 (3), ⟨10.2316/J.2019.206-5494⟩. ⟨hal-02404161⟩