TY - JOUR

T1 - Velocity and Singularity Analysis of a 5-DOF (3T2R) Parallel-Serial (Hybrid) Manipulator

AU - Laryushkin, Pavel

AU - Antonov, Anton

AU - Fomin, Alexey

AU - Essomba, Terence

N1 - Publisher Copyright:
© 2022 by the authors. Licensee MDPI, Basel, Switzerland.

PY - 2022/4

Y1 - 2022/4

N2 - This article presents the velocity and singularity analysis for a five-degree-of-freedom (5-DOF) parallel-serial manipulator. The hybrid structure of the manipulator combines a tripod-like parallel part and a serial part, represented as two carriages moving in perpendicular directions. This manipulator provides its end-effector with a 3T2R motion pattern, which includes three independent translations and two independent rotations. First, the study briefly discusses the manipulator design and the results of the position analysis. These results form the basis for the subsequent velocity and singularity analysis, performed by screw theory. The screw coordinates of the unit twists are written for each manipulator joint, and then through the reciprocal screw approach, the actuation and constraint wrenches of the manipulator are obtained by simple inspection. Based on these twists and wrenches, the paper forms the velocity equation and shows an example of the inverse velocity analysis for a given end-effector trajectory. The same example is solved by numerical differentiation to verify the proposed approach. Next, the paper investigates singular configurations by analyzing the wrench system of the manipulator and presents several conditions for serial and parallel singularities. Each condition has both a symbolic representation, given by an equation for screw coordinates of certain wrenches, and a visual representation, which shows the manipulator in a singular configuration.

AB - This article presents the velocity and singularity analysis for a five-degree-of-freedom (5-DOF) parallel-serial manipulator. The hybrid structure of the manipulator combines a tripod-like parallel part and a serial part, represented as two carriages moving in perpendicular directions. This manipulator provides its end-effector with a 3T2R motion pattern, which includes three independent translations and two independent rotations. First, the study briefly discusses the manipulator design and the results of the position analysis. These results form the basis for the subsequent velocity and singularity analysis, performed by screw theory. The screw coordinates of the unit twists are written for each manipulator joint, and then through the reciprocal screw approach, the actuation and constraint wrenches of the manipulator are obtained by simple inspection. Based on these twists and wrenches, the paper forms the velocity equation and shows an example of the inverse velocity analysis for a given end-effector trajectory. The same example is solved by numerical differentiation to verify the proposed approach. Next, the paper investigates singular configurations by analyzing the wrench system of the manipulator and presents several conditions for serial and parallel singularities. Each condition has both a symbolic representation, given by an equation for screw coordinates of certain wrenches, and a visual representation, which shows the manipulator in a singular configuration.

KW - 5-DOF manipulator

KW - inverse kinematics

KW - MATLAB simulation

KW - parallel-serial (hybrid) manipulator

KW - singularity analysis

KW - three translations and two rotations motion pattern (3T2R)

KW - velocity analysis

UR - http://www.scopus.com/inward/record.url?scp=85129040113&partnerID=8YFLogxK

U2 - 10.3390/machines10040276

DO - 10.3390/machines10040276

M3 - 期刊論文

AN - SCOPUS:85129040113

VL - 10

JO - Machines

JF - Machines

SN - 2075-1702

IS - 4

M1 - 276

ER -