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Article Dans Une Revue Journal of Mechanisms and Robotics Année : 2011

On the Dynamic Properties of Flexible Parallel Manipulators in the Presence of Type 2 Singularities

Résumé

In the present paper, we expand information about the conditions for passing through Type 2 singular configurations of a parallel manipulator. It is shown that any parallel manipulator can cross the singular configurations via an optimal control permitting the favourable force distribution, i.e. the wrench applied on the end-effector by the legs and external efforts must be reciprocal to the twist along the direction of the uncontrollable motion. The previous studies have proposed the optimal control conditions for the manipulators with rigid links and flexible actuated joints. The different polynomial laws have been obtained and validated for each examined case. The present study considers the conditions for passing through Type 2 singular configurations for the parallel manipulators with flexible links. By computing the inverse dynamic model of a general flexible parallel robot, the necessary conditions for passing through Type 2 singular configurations are deduced. The suggested approach is illustrated by a 5R parallel manipulator with flexible elements and joints. It is shown that a 16 th order polynomial law is necessary for the optimal force generation. The obtained results are validated by numerical simulations carried out using the software ADAMS.
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Dates et versions

hal-00587309 , version 1 (25-06-2019)

Identifiants

  • HAL Id : hal-00587309 , version 1

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Sébastien Briot, Vigen Arakelian. On the Dynamic Properties of Flexible Parallel Manipulators in the Presence of Type 2 Singularities. Journal of Mechanisms and Robotics, 2011, 3 (3). ⟨hal-00587309⟩
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