Configuration bifurcation characteristics of the semi-regular hexagon gough-stewart parallel manipulator

Yu Xin Wang, Yu Tong Li, Yi Ming Wang , Xiu Tian Yan

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

Abstract

Type-II singularities exist in parallel manipulators commonly. At this kind of singularities, the end-effector is locally movable and uncertain even when all the actuate joints are located. In order to explore a possible approach to obtain the concrete output of the mobile platform at the very small vicinity (germ space) of the singular point, in this paper, the configuration bifurcation characteristics at the germ space have been investigated. At first, the type-II singularity has been identified with Golubitsky-Schaeffer normal form. The result shows that the type-II singular points belong to the turning points. Then, the configuration bifurcation equation is reduced into one dimensional form. Based on this one dimensional equation, the unperturbed and perturbed configuration bifurcation behaviors at the germ space of the turning point have been analyzed. It is found that all configuration branches converged in the same singular point in the unperturbed system can be separated in the perturbed system. This discovery has presented a possible approach to control the parallel manipulator passing through the singular point with a desired configuration.

Original languageEnglish
Title of host publication2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Pages1119-1123
Number of pages5
Volume8 PART B
DOIs
Publication statusPublished - 13 Jun 2008
Event31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 - Las Vegas, NV, United States
Duration: 4 Sep 20077 Sep 2007

Conference

Conference31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
CountryUnited States
CityLas Vegas, NV
Period4/09/077/09/07

Keywords

  • configuration bifurcation
  • parallel manipulator
  • singularity
  • bifurcation (mathematics)
  • computer networks
  • machine design
  • robotics
  • robots
  • technology
  • singular points
  • perturbed systems

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