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A new geometric method for singularity analysis of spherical mechanisms

Published online by Cambridge University Press:  19 April 2011

Soheil Zarkandi
Soheil Zarkandi*
Affiliation:
Department of Mechanical Engineering, Babol University of Technology, Mazandaran, Iran
*
*Corresponding author. E-mail: zarkandi@gmail.com
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Summary

Finding singular configurations (singularities) has an important role during the design, trajectory planning, and control stages of mechanisms because in these configurations, the instantaneous kinematics is locally undetermined. In this paper, a systematic method is presented to obtain singular configurations of spherical mechanisms with input and output links. The method extends the use of instantaneous poles to singularity analysis of spherical mechanisms and offers geometric conditions for any type of singularities occurring in these mechanisms.

Keywords

Spherical mechanismsSingularity analysisInstantaneous polesAngular velocity
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 1083 - 1092
Copyright
Copyright © Cambridge University Press 2011

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