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Desingularization of Flexible-Joint Parallel Robots

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dc.contributor.author Özdemir, Mustafa
dc.contributor.author İder, Sıtkı Kemal
dc.date.accessioned 2022-03-31T13:22:06Z
dc.date.available 2022-03-31T13:22:06Z
dc.date.issued 2021
dc.identifier.citation Özdemir, Mustafa; İder, Sıtkı Kemal (2021). "Desingularization of Flexible-Joint Parallel Robots", Acta Polytechnica Hungarica, Vol. 18, No.6, pp. 85-106. tr_TR
dc.identifier.issn 1785-8860
dc.identifier.uri http://hdl.handle.net/20.500.12416/5239
dc.description.abstract Parallel robots possess a characteristic type of singularities, called type II or drive singularities, inside their workspace. In the neighborhood of these singularities, the inverse dynamics solution grows unboundedly and the robot becomes uncontrollable. There is growing literature on methods that enable parallel robots to pass through drive singularities. Most of this literature relies on dynamic models that presume rigid joints. However, the flexibility of the drive train elements should also be taken into account for high accuracy. In this paper, we propose a systematic trajectory planning method for enabling flexible-joint parallel robots to pass through drive singular configurations. Our method generates admissible polynomial trajectories of degree eleven. Four conditions are derived and incorporated into the method to prevent undesired back-and-forth motion of the endpoint. This ensures not only an efficient operation of the robot but also the avoidance of unintended multiple occurrences of the same singularity. The boundedness of the inverse dynamics solution is also guaranteed. tr_TR
dc.language.iso eng tr_TR
dc.relation.isversionof 10.12700/aph.18.6.2021.6.5 tr_TR
dc.rights info:eu-repo/semantics/openAccess tr_TR
dc.subject Flexible-Joint Parallel Robot tr_TR
dc.subject Drive Train Flexibility tr_TR
dc.subject Drive Singularity tr_TR
dc.subject Singularity Removal tr_TR
dc.subject Trajectory Planning tr_TR
dc.title Desingularization of Flexible-Joint Parallel Robots tr_TR
dc.type article tr_TR
dc.relation.journal Acta Polytechnica Hungarica tr_TR
dc.contributor.authorID 108608 tr_TR
dc.identifier.volume 18 tr_TR
dc.identifier.issue 6 tr_TR
dc.identifier.startpage 85 tr_TR
dc.identifier.endpage 106 tr_TR
dc.contributor.department Çankaya Üniversitesi, Mühendislik Fakültesi, Makine Mühendisliği Bölümü tr_TR


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