Sensor-Based Identification of Singularities in Parallel Manipulators
[EN] Singularities are configurations where the number of degrees of freedom of a robot changes instantaneously. In parallel manipulators, a singularity could reduce the mobility of the end-effector or produce uncontrolled motions of the mobile platform. Thus, a singularity is a critical problem for...
| Autores: | , , , |
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| Formato: | artículo |
| Fecha de publicación: | 2024 |
| País: | España |
| Recursos: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | inglés |
| OAI Identifier: | oai:riunet.upv.es:10251/220290 |
| Acesso em linha: | https://riunet.upv.es/handle/10251/220290 |
| Access Level: | acceso abierto |
| Palavra-chave: | Robotics Parallel manipulators Kinematics Singularities Experimental analysis |
| Resumo: | [EN] Singularities are configurations where the number of degrees of freedom of a robot changes instantaneously. In parallel manipulators, a singularity could reduce the mobility of the end-effector or produce uncontrolled motions of the mobile platform. Thus, a singularity is a critical problem for mechanical design and model-based control. This paper presents a general sensor-based method to identify singularities in the workspace of parallel manipulators with low computational cost. The proposed experimental method identifies a singularity by measuring sudden changes in the end-effector movements and huge increments in the forces applied by the actuators. This paper uses an inertial measurement unit and a 3D tracking system for measuring the end-effector movements, and current sensors for the forces exerted by the actuators. The proposed sensor-based identification of singularities is adjusted and implemented in three different robots to validate its effectiveness and feasibility for identifying singularities. The case studies are two prototypes for educational purposes-a five-bar mechanism and an L-CaPaMan parallel robot-and a four-degree-of-freedom robot for rehabilitation purposes. The tests showcase its potential as a practical solution for singularity identification in educational and industrial robots. |
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