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Singularity reduction of a 3-UPS mechanism with 6 DOF for haptic applications

Vossoughi, G. R ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1115/ESDA2010-24386
  3. Abstract:
  4. A method for singularity reduction in a triangular 3-UPS mechanism is discussed. This mechanism usually has singularity near the origin. Changing the active joint angle can arrive at a suitable workspace near the origin without any singularity. Moreover, a 4-UPS mechanism, based on adding one additional leg to the 3-UPS mechanism, has a larger singular free workspace. Moreover, force analysis of two different mechanisms shows a reasonable and consistent force distribution between the different actuators. Singular free workspace is one of the characteristics which makes this mechanism ideal for haptic applications
  5. Keywords:
  6. Different mechanisms ; Force analysis ; Force distributions ; Haptic applications ; Joint angle ; Systems analysis
  7. Source: ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010 ; Volume 3 , 2010 , Pages 619-626 ; 9780791849170 (ISBN)
  8. URL: http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1618231