Singularity-Free Kinematically Redundant Planar Parallel Mechanism. Laboratoire de robotique de l'université Laval / Laval University Robotics Laboratory Paper abstract bibtex SINGULARITY-FREE KINEMATICALLY REDUNDANT PLANAR PARALLEL MECHANISMS WITH UNLIMITED ROTATIONAL CAPABALITY This video introduces a novel family of singularityfree kinematically redundant planar parallel mechanisms that have unlimited rotational capabilities. The proposed mechanisms are akin to conventional three-degree-of-freedom planar parallel mechanisms. By introducing a novel kinematically redundant arrangement, four-degree-of-freedom parallel mechanisms are obtained that can completely alleviate singularities and provide unlimited rotational capabilities. It is shown that the singularities of this type of mechanism are governed by the orientation of a passive link connecting the redundant leg to the platform and that the latter orientation is easily controlled using the kinematic redundancy, thereby alleviating all direct kinematic singularities. Pour l'article scientifique, For the scientific article, http://ieeexplore.ieee.org/xpl/articl...
@misc{laboratoire_de_robotique_de_luniversite_laval_/_laval_university_robotics_laboratory_singularity-free_nodate,
title = {Singularity-{Free} {Kinematically} {Redundant} {Planar} {Parallel} {Mechanism}},
url = {https://www.youtube.com/watch?v=_vp1ELEtDN4},
abstract = {SINGULARITY-FREE KINEMATICALLY REDUNDANT PLANAR PARALLEL MECHANISMS WITH UNLIMITED ROTATIONAL CAPABALITY
This video introduces a novel family of singularityfree kinematically redundant planar parallel mechanisms that have unlimited rotational capabilities. The proposed mechanisms are akin to conventional three-degree-of-freedom planar parallel mechanisms. By introducing a novel kinematically redundant arrangement, four-degree-of-freedom parallel mechanisms are obtained that can completely alleviate singularities and provide unlimited rotational capabilities. It is shown that the singularities of this type of mechanism are governed by the orientation of a passive link connecting the redundant leg to the platform and that the latter orientation is easily controlled using the kinematic redundancy, thereby alleviating all direct kinematic singularities.
Pour l'article scientifique,
For the scientific article,
http://ieeexplore.ieee.org/xpl/articl...},
author = {{Laboratoire de robotique de l'université Laval / Laval University Robotics Laboratory}},
keywords = {4 ddl, 4 dof, Canada, Laboratoire, Laval, Parallel, Québec, Robot, Robotique, Singularity, Université, ddl, dof, four, kinematically, mechanism, motion, mécanisme, redundant, singularité, strap}
}
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