Graphical Analysis for Locating Direct Singular Positions of the Parallel Manipulator MIPS^#

REFERENCES

• Basu , D. , Ghosal , A. ( 1997 ). Singularity analysis of platform-type multi-loop spatial mechanisms . Mechanism and Machine Theory 32 : 375 – 389 .
   Web of Science ®Google Scholar
• Cheng , X. , Huang , Y. M. , Gao , F. , Chang , Y. G. , Peng , Z. B. ( 2004 ). Study on Kinematics Characteristics and Singularities of a 3-dof Parallel Robot. Proceedings of the Third International Conference on Machine Learning and Cybernetics, Shanghai, August 26–29, 2870–2873 .
   Google Scholar
• Gallardo-Alvarado , J. , Rico-Martinez , J. M. , Alici , G. ( 2006 ). Kinematics and singularity analyses of a 4-dof parallel manipulator using screw theory . Mechanism and Machine Theory 41 : 1048 – 1061 .
   Web of Science ®Google Scholar
• Ghosal , A. , Ravani , B. ( 2001 ). A differential-geometric analysis of singularities of point trajectories of serial and parallel manipulators . ASME Journal of Mechanical Design 123 : 80 – 89 .
   Web of Science ®Google Scholar
• Gosselin , C. , Angeles , J. ( 1990 ). Singularity analysis of closed-loop kinematic chains . IEEE Transactions of Robotics and Automation 6 : 281 – 290 .
   Google Scholar
• Hunt , K. H. ( 1978 ). Kinematic Geometry of Mechanisms . New York : Oxford University Press .
   Google Scholar
• Kong , X. , Gosselin , C. M. ( 2001 ). Uncertainty singularity analysis of parallel manipulators based on instability analysis of structures . International Journal of Robotic Research 20 : 847 – 856 .
   Web of Science ®Google Scholar
• Liu , C. H. , Cheng , S. ( 2004 ). Direct singular positions of 3RPS parallel manipulators . ASME Journal of Mechanical Design 126 : 1006 – 1016 .
   Web of Science ®Google Scholar
• Liu , C. H. , Chiu , J. ( 2005 ). Direct kinematic singularities of 3-3 Stewart–Gough platforms. Proceedings of the institution of mechanical engineers, part K . Journal of Multi-Body Dynamics 219 : 311 – 324 .
   Google Scholar
• Liu , C. H. , Hsu , F.-K. ( 2007 ). Direct singular positions of the parallel manipulator tricept. Proceedings of the institution of mechanical engineers, part C . Journal of Mechanical Engineering Science 221 ( 1 ): 109 – 117 .
   Google Scholar
• Ma , C.-M. (2005). Direct Kinematic Singularity Analysis of the Parallel Manipulator MIPS. Master thesis. Dept. of Mechanical and Electro-Mechanical Engineering, Tamkang University (in Chinese).
   Google Scholar
• Mayer St-Onge , B. , Gosselin , C. M. ( 2000 ). Singularity analysis representation of the general Gough-Stewart platform . International Journal of Robotic Research 19 : 271 – 288 .
   Web of Science ®Google Scholar
• Merlet , J.-P. ( 1989 ). Singular configurations of parallel manipulators and Grassmann geometry . International Journal of Robotic Research 8 : 45 – 56 .
   Web of Science ®Google Scholar
• Merlet , J.-P. ( 1998 ). First experiments with MIPS 1 (mini in-parallel positioning system) . In: Casals , A. , de Almeida , A. T. , eds. Experimental Robotics V, The Fifth International Symposium, Barelona, Catalonia, June 15–18, 1997 . Berlin : Springer , pp. 435 – 442 .
   Google Scholar
• Merlet , J.-P. ( 2001 ). Micro Parallel Robot MIPS for Medical Applications. Proceedings of the 2001 IEEE International Conference on Robotics & Automation, Washington, DC, 611–619 .
   Google Scholar
• Merlet , J.-P. ( 2002 ). Optimal Design for the Micro Parallel Robot MIPS. Proceedings of the 2002 IEEE International Conference on Robotics & Automation, Washington, DC, May, 1149–1154 .
   Google Scholar
• Mouly , N. , Merlet , J.-P. ( 1992 ). Singular Configurations and Direct Kinematics of a New Parallel Manipulator. Proceedings of the 1992 IEEE International Conference on Robotics & Automation, Nice, France, 338–343 .
   Google Scholar
• O'Brien , S. M. , Carretero , P. L. , Last , P. ( 2007 ). Self-calibration of 3-PRS manipulator without redundant sensors . Transactions of the CSME 31 ( 4 ): 483 – 494 .
   Web of Science ®Google Scholar
• Pond , G. , Carretero , J. A. ( 2007 ). Quantitative dexterous workspace comparison of parallel manipulators . Mechanism and Machine Theory 42 : 1388 – 1400 .
   Web of Science ®Google Scholar
• Tsai , L.-W. ( 1999 ). Robot Analysis: the Mechanics of Serial and Parallel Manipulators . New York : John Wiley & Sons, Inc .
   Google Scholar
• Tsai , M. S. , Shiau , T. N. , Tsai , Y. J. , Chang , T. H. ( 2003 ). Direct kinematic analysis of a 3-PRS parallel manipulator . Mechanism and Machine Theory 38 : 71 – 83 .
   Web of Science ®Google Scholar
• Xu , Y.-X. , Kohli , D. , Weng , T.-C. ( 1994 ). Direct differential kinematics of hybrid-chain manipulators including singularity and stability analyses . ASME Journal of Mechanical Design 116 : 614 – 621 .
   Web of Science ®Google Scholar
• #Communicated by P. Larochelle.
   Google Scholar