Statics and singularity loci of the 3-UPU wrist

The static analysis of a parallel wrist, known as the 3-universal-prismatic-universal (UPU) wrist, is presented, and the 3-UPU wrist singularity conditions are interpreted from a statics point of view. An equation (singularity equation) that enables finding all the 3-UPU wrist singular configuration...

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Bibliographic Details
Published inIEEE transactions on robotics Vol. 20; no. 4; pp. 630 - 635
Main Author Di Gregorio, R.
Format Journal Article
LanguageEnglish
Published New York, NY IEEE 01.08.2004
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Applied sciences
Computer science; control theory; systems
Control theory. Systems
Costs
Data analysis
Equations
Exact sciences and technology
Kinematics
Leg
Manufacturing
Polynomials
Production
Robotics
Robots
Stress
Wrist
Wrist
Singularity
Statics
Parallel
Robotics
Static analysis
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Summary:The static analysis of a parallel wrist, known as the 3-universal-prismatic-universal (UPU) wrist, is presented, and the 3-UPU wrist singularity conditions are interpreted from a statics point of view. An equation (singularity equation) that enables finding all the 3-UPU wrist singular configurations is written in explicit form. Moreover, the use of the Rodrigues parameters to parameterize the 3-UPU wrist platform orientation allows the singularity equation to become a fourth-degree polynomial equation in three unknowns. Finally, a numerical example is presented.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.829475