Manipulability and static stability of parallel manipulators

DOI10.1023/A:1021675929665MaRDI QIDQ1855333zbMATH OpenOpenAlexFDO

Authors Andreas Müller

Publication date 4 February 2003

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1021675929665

zbMATH Keywords

constrained mechanical systemskinematic relationshipssingularities

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Stability problems in rigid body dynamics (70E50) Robot dynamics and control of rigid bodies (70E60)

Review text

In earlier papers, P. Maisser developed a systematic analytical approach for the derivation of kinematic relationships of holonomic (geometric) constrained mechanical systems (CMS) [\textit{P. Maisser}, Z, Angew. Math. Mech. 71, No. 4, 116--119 (1991); Nonlinear Anal., Theory Methods Appl. 30, No. 8, 5127--5133 (1997; Zbl 0908.70007)]. Parallel manipulators (PM) are modelled as CMSs, where the holonomic constraints describe the closure conditions of selected joints. All the kinematic loops can be cut open to get a kinematic tree structure, from which both the forward and inverse kinematic relationships can be derived. Points on the CMS manifold, where one or both of Jacobians become singular, are local singularities of the manipulator, as previously defined by the author and \textit{P. Maisser} [Multibody Syst. Dyn. 5, No. 3, 223--249 (2001; Zbl 0989.70004)]. Here these results are extended, and global manipulability measures are introduced. The static stability of PMs is investigated, including the transformation of driving to platform forces. The elastic stiffness of PMs is incorporated in a stability analysis of the PM dynamics. The paper focuses on PMs consisting of a platform rigidly connected to the end-effector, and of a set of arms flexibly connected with the base so that each arm is part of a kinematic chain. The procedures are illustrated using a hexapod as an example.

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Cited in

(14)

• Equilibrium of manual manipulators
• MMC -- a new numerical approach to the kinematics of complex manipulators
• Static stability of manipulator configuration: influence of the external loading
• Determination of the stiffness of rolling kinematic pairs of manipulators
• Dynamics and stability of a hybrid serial-parallel mobile robot
• Force Transmissibility Performance of Parallel Manipulators
• Optimal control for static stiffness and thermal sensitivity of a hexapod machine tool
• Jacobian, manipulability, condition number and accuracy of parallel robots
• Weighted local conditioning index of a positioning and orienting parallel manipulator
• scientific article; zbMATH DE number 1517146 (Why is no real title available?)
• Operational modal analysis on a six degree of freedom parallel manipulator: reproducibility, excitation and pose dependency
• Kinematic and dynamic properties of parallel manipulators
• Sensitivity comparison of planar parallel manipulators
• Stabilizing manipulator motion along a given surface

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