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Singularities of a planar 3-RPR parallel manipulator with joint clearance

Published online by Cambridge University Press:  02 April 2018

Marise Gallant and
Clément Gosselin
Marise Gallant*
Affiliation:
Université de Moncton, Moncton, NB, Canada
Clément Gosselin
Affiliation:
Université Laval, Québec, Canada. E-mail: gosselin@gmc.ulaval.ca
*
*Corresponding author. E-mail: marise.gallant@umoncton.ca
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Summary

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If the joint clearances of the joints of a manipulator are considered, an unconstrained motion of the end-effector can be computed. This is true for all poses of the manipulator, even with all actuators locked.

This paper presents how this unconstrained motion can be determined for a planar 3-RPR manipulator. The singularities are then studied. It is shown that when clearances are considered, the singularity curves normally found in the workspace of such a manipulator become singular zones. These zones can be significant and greatly reduce the usable workspace of a manipulator. Since a prescribed configuration that would not, in theory, corresponds to a singular pose can become singular due to the unconstrained motion, the results of this paper are relevant to manipulator design and trajectory planning.

Keywords

Joint clearanceSingularitiesParallel manipulator

Information

Type
Articles
Information
Robotica , Volume 36 , Issue 7 , July 2018, pp. 1098 - 1109
Copyright
Copyright © Cambridge University Press 2018 

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