The Singularity Analysis of 3-RPS Parallel Manipulator

2006 ◽  
Author(s):  
Yanwen Li ◽  
Zhen Huang ◽  
Lumin Wang
Keyword(s):  
Parallel Manipulator ◽  
Screw Theory ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Singularity Analysis ◽  
Necessary Condition ◽  
Line Geometry ◽  
Simple Singularity ◽  
Sufficient And Necessary Condition ◽  
Three Dimensional Space

This paper firstly introduces a kinematic principle of singularity. It is a sufficient and necessary condition to identify singularity. Using the condition this paper systematically studies the singularity of 3-RPS parallel manipulator. A simple singularity equation is derived and the complete singularity loci in the three-dimensional space are illustrated. In order to analyze the singularity property and verify the correctness of the derived equation the line-geometry and the constraint screw theory are used. Some important singularity properties and the distribution characteristics are presented.

scholarly journals Position-Singularity Analysis of a Class of the 3/6-Gough-Stewart Manipulators Based on Singularity-Equivalent-Mechanism

10.5772/45664 ◽  
2012 ◽  
Vol 9 (1) ◽  
pp. 9 ◽  
Author(s):  
Hui Zhou ◽  
Yi Cao ◽  
Baokun Li ◽  
Meiping Wu ◽  
Jinghu Yu ◽  
...  
Keyword(s):  
Screw Theory ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Singularity Analysis ◽  
Polynomial Expression ◽  
Moving Platform ◽  
Singularity Locus ◽  
Three Dimensional Space ◽  
Equivalent Mechanism

This paper addresses the problem of identifying the property of the singularity loci of a class of 3/6-Gough-Stewart manipulators for general orientations in which the moving platform is an equilateral triangle and the base is a semiregular hexagon. After constructing the Jacobian matrix of this class of 3/6-Gough-Stewart manipulators according to the screw theory, a cubic polynomial expression in the moving platform position parameters that represents the position-singularity locus of the manipulator in a three-dimensional space is derived. Graphical representations of the position-singularity locus for different orientations are given so as to demonstrate the results. Based on the singularity kinematics principle, a novel method referred to as ‘singularity-equivalent-mechanism' is proposed, by which the complicated singularity analysis of the parallel manipulator is transformed into a simpler direct position analysis of the planar singularity-equivalent-mechanism. The property of the position-singularity locus of this class of parallel manipulators for general orientations in the principal-section, where the moving platform lies, is identified. It shows that the position-singularity loci of this class of 3/6-Gough-Stewart manipulators for general orientations in parallel principal-sections are all quadratic expressions, including a parabola, four pairs of intersecting lines and infinite hyperbolas. Finally, the properties of the position-singularity loci of this class of 3/6-Gough-Stewart parallel manipulators in a three-dimensional space for all orientations are presented.

scholarly journals Vector Products As A Tool For The Investigation Of The Isometric Transformation Of Objects

2015 ◽  
Vol 98 (1) ◽  
pp. 60-71
Author(s):  
Ryszard Józef Grabowski
Keyword(s):  
Dimensional Space ◽  
Three Dimensional ◽  
Necessary Condition ◽  
Vector Product ◽  
Isometric Transformation ◽  
Check Points ◽  
Normal Vectors ◽  
Definition Of ◽  
Three Dimensional Space

Abstract The identification of isometric displacements of studied objects with utilization of the vector product is the aim of the analysis conducted in this paper. Isometric transformations involve translation and rotation. The behaviour of distances between check points on the object in the first and second measurements is a necessary condition for the determination of such displacements. For every three check points about the measured coordinate, one can determine the vector orthogonal to the two neighbouring sides of the triangle that are treated as vectors, using the definition of the vector product in three-dimensional space. If vectors for these points in the first and second measurements are parallel to the studied object has not changed its position or experienced translation. If the termini of vectors formed from vector products treated as the vectors are orthogonal to certain axis, then the object has experienced rotation. The determination of planes symmetric to these vectors allows the axis of rotation of the object and the angle of rotation to be found. The changes of the value of the angle between the normal vectors obtained from the first and second measurements, by exclusion of the isometric transformation, are connected to the size of the changes of the coordinates of check points, that is, deformation of the object. This paper focuses mainly on the description of the procedure for determining the translation and rotation. The main attention was paid to the rotation, due to the new and unusual way in which it is determined. Mean errors of the determined parameters are often treated briefly, and this subject requires separate consideration.

Geometrical Properties of Modelled Robot Elasticity: Part II — Center of Elasticity

1992 ◽  
Author(s):  
Harvey Lipkin ◽  
Timothy Patterson
Keyword(s):  
Screw Theory ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Compliance Matrix ◽  
Geometrical Properties ◽  
Robot Systems ◽  
Pass Through ◽  
Generalized Center ◽  
Three Dimensional Space ◽  
Elastic Characteristics

Abstract The elastic characteristics of many robot systems can be modeled by a 6 × 6 stiffness or compliance matrix. Several new and important results are presented via screw theory: i) A generalized center-of-elasticity is proposed based on Ball’s (1900) principal screws and its properties are investigated, ii) If a compliant axis exists, it is shown to pass through the center. iii) The perpendicular vectors from the center to the wrench-compliant axes are coplanar and sum to zero. A similar result holds for the twist-compliant axes, iv) Linear and rotational properties are characterized by dual ellipsoids in three-dimensional space. These elements simplify the understanding of complex elastic properties.

Geometry in three dimensions over GF (3)

1954 ◽  
Vol 222 (1149) ◽  
pp. 262-286 ◽  
Keyword(s):  
Dimensional Space ◽  
Three Dimensional ◽  
Galois Field ◽  
The Other ◽  
Three Dimensions ◽  
Common Vertex ◽  
Line Geometry ◽  
Fundamental Properties ◽  
The Common ◽  
Three Dimensional Space

The object of this paper is to give some account of the geometry of the three-dimensional space S wherein the co-ordinates belong to a Galois field K of 3 marks. A description of the fundamental properties of quadrics is sufficiently long for one paper, and so an account of the line geometry is deferred. The early paragraphs (§§ 1 to 4) are necessarily concerned with geometry on a line or in a plane. A line consists of 4 points; these are self-projective under all 4! permutations. A plane consists of 13 points and has the same number, 234, of triangles, quadrangles, quadri-laterals and non-singular conics. A diagram is helpful, especially when we consider sections by planes in S . The space S has 40 points. Non-singular quadrics are of two kinds: either ruled, when we call them hyperboloids, or non-ruled, when we call them ellipsoids. A hyperboloid H consists of 16 points and has a pair of reguli; the 24 points of S not on H are the vertices of 6 tetra-hedra that form two allied desmic triads. The ellipsoid F is introduced in § 12; it consists of 10 points, the other 30 points of S being separated into two batches of 15 between which there is a symmetrical (3, 3) correspondence. Either batch can be arranged as a set of 6 pentagons, each of the 15 points being the common vertex of 2 of these. The pentagons of either set have all their edges tangents of F and, with their polar pentahedra, have significant properties and interrelations. By no means their least important attribute is that they afford, with F , so apposite a domain of operation for the simple group of order 360. In §§ 23 to 26 are described the operations of the group in this setting. Thereafter the 36 separations of the 10 points of F into complementary pentads are discussed, no 4 of either pentad being coplanar. During the work constructions for an ellipsoid are encountered; one is in § 16, another in § 30.

FORCE-UNCONSTRAINED POSES OF THE 3-PRR AND 4-PRR PLANAR PARALLEL MANIPULATORS

2005 ◽  
Vol 29 (4) ◽  
pp. 617-628 ◽  
Author(s):  
Flavio Firmani ◽  
Ron P. Podhorodeski
Keyword(s):  
Parallel Manipulator ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Task Space ◽  
Planar Parallel Manipulator ◽  
Order Polynomial ◽  
Position And Orientation ◽  
Planar Parallel Manipulators ◽  
Three Dimensional Space

Force-unconstrained (singular) poses of the 3-PRR planar parallel manipulator (PPM), where the underscore indicates the actuated joint, and the 4-PRR, a redundant PPM with an additional actuated branch, are presented. The solution of these problems is based upon concepts of reciprocal screw quantities and kinematic analysis. In general, non-redundant PPMs such as the 3-PRR are known to have two orders of infinity of force-unconstrained poses, i.e., a three-variable polynomial in terms of the task-space variables (position and orientation of the mobile platform). The inclusion of redundant branches eliminates one order of infinity of force-unconstrained configurations for every actuated branch beyond three. The geometric identification of force-unconstrained poses is carried out by assuming one variable for each order of infinity. In order to simplify the algebraic procedure of these problems, the assumed or “free” variables are considered to be joint displacements. For both manipulators, an effective elimination technique is adopted. For the 3-PRR, the roots of a 6th-order polynomial determine the force-unconstrained poses, i.e., surfaces in a three dimensional space defined by the task-space variables. For the 4-PRR, a 64th-order polynomial determines curves of force-unconstrained poses in the same dimensional space.

scholarly journals Design, the Decoration of Culture?

IDEA JOURNAL ◽  
1969 ◽  
pp. 71-84
Author(s):  
Tom Loveday
Keyword(s):  
Dimensional Space ◽  
Three Dimensional ◽  
Necessary Condition ◽  
Built Form ◽  
Material Substance ◽  
Interior Designers ◽  
Architecture And Design ◽  
Investigative Process ◽  
Three Dimensional Space ◽  
Material Substances

Interior designers have tended, like architects, to determine three-dimensional space using geometry by manipulating representations of material substances or building work. Geometry without substance is of thought only and only has one quantity; number. As such design becomes the manipulation of representations with the traditions of geometry. One of those traditions is the understanding of geometry as pure static Cartesian abstraction impurely expressed in substance. Design has tended to do this for a number of reasons, one of which is to engage more fully with the design of built form and another is to distance itself from decoration. This paper explores the issue and asks three questions: Is the repetition of Enlightenment geometry a necessary condition for architecture and design? If it is, does material substance become merely an excessive characteristic of pure concepts conceived as pure abstract geometry? Is culture becoming so dependent on geometry that to make geometry a pure abstraction is to understand material substance as excessive? These questions are reformulated through the investigative process of the paper and are asked in a different form as a conclusion.

Extension of the Spatial PDI Model to Three Dimensions

1997 ◽  
Vol 84 (1) ◽  
pp. 176-178
Author(s):  
Frank O'Brien
Keyword(s):  
Population Density ◽  
Dimensional Space ◽  
Finite Lattice ◽  
Three Dimensional ◽  
Upper Bounds ◽  
Three Dimensions ◽  
Lower And Upper Bounds ◽  
Density Index ◽  
Three Dimensional Space

The author's population density index ( PDI) model is extended to three-dimensional distributions. A derived formula is presented that allows for the calculation of the lower and upper bounds of density in three-dimensional space for any finite lattice.

A Peptoid with Extended Shape in Water

2019 ◽  
Author(s):  
Jumpei Morimoto ◽  
Yasuhiro Fukuda ◽  
Takumu Watanabe ◽  
Daisuke Kuroda ◽  
Kouhei Tsumoto ◽  
...  
Keyword(s):  
Spectroscopic Analysis ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Biomolecular Recognition ◽  
Biological Application ◽  
New Class ◽  
Proteolytic Resistance ◽  
Pharmacokinetic Properties ◽  
Optically Pure ◽  
Three Dimensional Space

<div> <div> <div> <p>“Peptoids” was proposed, over decades ago, as a term describing analogs of peptides that exhibit better physicochemical and pharmacokinetic properties than peptides. Oligo-(N-substituted glycines) (oligo-NSG) was previously proposed as a peptoid due to its high proteolytic resistance and membrane permeability. However, oligo-NSG is conformationally flexible and is difficult to achieve a defined shape in water. This conformational flexibility is severely limiting biological application of oligo-NSG. Here, we propose oligo-(N-substituted alanines) (oligo-NSA) as a new peptoid that forms a defined shape in water. A synthetic method established in this study enabled the first isolation and conformational study of optically pure oligo-NSA. Computational simulations, crystallographic studies and spectroscopic analysis demonstrated the well-defined extended shape of oligo-NSA realized by backbone steric effects. The new class of peptoid achieves the constrained conformation without any assistance of N-substituents and serves as an ideal scaffold for displaying functional groups in well-defined three-dimensional space, which leads to effective biomolecular recognition. </p> </div> </div> </div>

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