Para-arm: A five-bar parallel manipulator with singularity-perturbed design

D. N. Nenchev; M. Uchiyama

doi:10.1016/S0094-114X(97)00068-2

Para-arm: A five-bar parallel manipulator with singularity-perturbed design

D. N. Nenchev, M. Uchiyama

Research output: Contribution to journal › Article › peer-review

10 Citations (Scopus)

Abstract

We propose a new singularity-perturbed design approach to a planar five-bar parallel-link manipulator. The design allows us to operate the manipulator either in parallel or in serial branch mode, and also to exchange those modes. Thus, it is possible to merge some of the well-known advantages of serial and parallel manipulators. We study two basic singularity-perturbed designs and show that one of them is preferable. A feasibility study through computer simulation, including maximum torque requirement, is also presented.

Original language	English
Pages (from-to)	453-462
Number of pages	10
Journal	Mechanism and Machine Theory
Volume	33
Issue number	5
DOIs	https://doi.org/10.1016/S0094-114X(97)00068-2
Publication status	Published - 1998 Jul 1

ASJC Scopus subject areas

Bioengineering
Mechanics of Materials
Mechanical Engineering
Computer Science Applications

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AB - We propose a new singularity-perturbed design approach to a planar five-bar parallel-link manipulator. The design allows us to operate the manipulator either in parallel or in serial branch mode, and also to exchange those modes. Thus, it is possible to merge some of the well-known advantages of serial and parallel manipulators. We study two basic singularity-perturbed designs and show that one of them is preferable. A feasibility study through computer simulation, including maximum torque requirement, is also presented.

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Para-arm: A five-bar parallel manipulator with singularity-perturbed design

Abstract

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