Singularity Loci Analysis of the Position and Pose Adjustment Mechanism Used for In-pipe Robot

DOI

10.2991/icmii-15.2015.33How to use a DOI?

Keywords

parallel mechanism, singularity loci

Abstract

A four-degree of freedom (4DOF) spatial parallel mechanism used as position and pose adjustment mechanism for manipulator is designed. By mechanism analysis, the conclusion that the force-influence coefficient matrix of the adjustment mechanism is the transposition of the velocity influence coefficient matrix is made and the force-influence coefficient matrix and nondimensional jacobian matrix in the initial state of mechanism are deduced. According to the judgment conditions of mechanism singularity loci, analyzing the singularity loci of the connection mechanism, author obtains the judgment criterion for in-pipe robot position and pose adjustment mechanism, laying the foundation for optimization design of mechanism parameters and motion trajectory planning.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Han Ni
AU  - Yulian Chang
AU  - Sheng Gao
PY  - 2015/10
DA  - 2015/10
TI  - Singularity Loci Analysis of the Position and Pose Adjustment Mechanism Used for In-pipe Robot
BT  - Proceedings of the 3rd International Conference on Mechatronics and Industrial Informatics
PB  - Atlantis Press
SP  - 179
EP  - 183
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmii-15.2015.33
DO  - 10.2991/icmii-15.2015.33
ID  - Ni2015/10
ER  -