Singularity analysis of closed-loop kinematic chains

Gosselin, Clement; Angeles, Jorge

Affiliations

¹McGill Research Center for Intelligent Machines, McGill University, Montreal, Quebec, Canada H3A 2K6

²Present address: Département de Génie Mecanique, Université Laval, Ste-Foy, Quebec, Canada G1K 7P4

Abstract

The different kinds of singularities encountered in closed-loop kinematics chains are analyzed. A general classification of these singularities in three main groups, which is based on the properties of the Jacobian matrices of the chain, is described. The identification of the singular configurations is particularly relevant for hard automation modules or robotic devices based on closed kinematic chains, such as linkages and parallel manipulators. Examples are given to illustrate the application of the method to these mechanical systems.

Links

DOI: 10.1109/70.56660

WoS: A1990DN49800001

History

Received: 1988-12-03

Revised: 1989-06-19

Cited Works (1)

Year	Entry
1988	Gosselin C. Kinematic Analysis, Optimization and Programming of Parallel Robotic Manipulators [PhD thesis]. McGill University; June 15, 1988.

Cited By (21)

Year	Entry
2015	Mohr C. Development, Analysis and Synthesis of a Three-Degree-of-Freedom Translational Tensegrity Mechanism [Master's thesis]. Royal Military College of Canada; July 2015.
2013	Lambert P. Parallel Robots With Configurable Platforms [PhD thesis]. Delft University of Technology; 2013.
1997	Mayer St-Onge B. Étude et représentation des lieux de singularité de la plate-forme de Gough-Stewart [Master's thesis]. Université Laval; March 1997.
1997	Wang J. Kinematic Analysis, Dynamic Analysis and Static Balancing of Planar and Spatial Parallel Mechanisms or Manipulators With Revolute Actuators [PhD thesis]. Université Laval; September 1997.
2000	Zhang D. Kinetostatic Analysis and Optimization of Parallel and Hybrid Architectures for Machine Tools [PhD thesis]. Université Laval; April 2000.
2003	Kong X. Type Synthesis and Kinematics of General and Analytic Parallel Mechanisms [PhD thesis]. Université Laval; March 2003.
2005	Li H. The Analytical Singularity Locus Equation and the Determination of Singularity-Free Zones in the Workspace of the General Gough-Stewart Platform [PhD thesis]. Université Laval; 2005.
2006	Ricard R. Compensation dynamique de mécanismes parallèles [PhD thesis]. Université Laval; 2006.
2008	Gallant M. Étude de l'effet du jeu aux articulations passives et de la flexibilité des membrures sur les propriétés des manipulateurs parallèles [PhD thesis]. Université Laval; 2008.
2008	Jiang Q. Singularity-Free Workspace Analysis and Geometric Optimization of Parallel Mechanisms [PhD thesis]. Université Laval; 2008.
2010	Tale Masouleh M. Kinematic Analysis of Five-DOF (3T2R) Parallel Mechanisms With Identical Limb Structures [PhD thesis]. Université Laval; 2010.
2019	Schreiber LT. La redondance cinématique dans les robots parallèles pour l'augmentation de l'espace de travail en orientation [PhD thesis]. Université Laval; 2019.
2020	Wen K. Kinematic Analysis and Synthesis of Kinematically Redundant Hybrid Parallel Robots [PhD thesis]. Université Laval; 2020.
2022	Lacombe J. Synthèse cinématique d'un octopode parallèle sans surcontrainte avec conditions de singularité simples [Master's thesis]. Université Laval; 2022.
2022	Nguyen TS. Motion Control and Physical Human-Robot Interaction of Kinematically Redundant Hybrid Parallel Robots and of a Macro-Mini Robotic System [PhD thesis]. Université Laval; 2022.
2023	Beaulieu C-A. Conception cinématique et prototypage d'un préhenseur avec des capacités de prise par pincement et par ramassage actionné par les degrés de liberté redondants d'un robot parallèle [Master's thesis]. Université Laval; 2023.
2003	Arsenault M. La synthèse de mécanismes parallèles plans en considérant l'espace atteignable, la dextérité, la raideur et l'évitement des singularités [Master's thesis]. University of Moncton; August 2003.
2014	Coppola G. Advances in Parallel Robotics for Flexible and Reconfigurable Manufacturing [PhD thesis]. University of Ontario Institute of Technology; April 2014.
1995	Notash L. Kinematic Solutions for the Effective Implementation of Parallel Manipulators [PhD thesis]. University of Victoria; 1995.
2006	Firmani F. Force-Unconstrained Poses of Redundantly Actuated Planar Parallel Manipulators [PhD thesis]. University of Victoria; 2006.
2011	Uchida TK. Real-Time Dynamic Simulation of Constrained Multibody Systems Using Symbolic Computation [PhD thesis]. University of Waterloo; 2011.