Topological analysis of singularity loci for serial and parallel manipulators

Paganelli, Davide (2008) Topological analysis of singularity loci for serial and parallel manipulators, [Dissertation thesis], Alma Mater Studiorum Università di Bologna. Dottorato di ricerca in Meccanica applicata, 20 Ciclo. DOI 10.6092/unibo/amsdottorato/954.
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Singularities of robot manipulators have been intensely studied in the last decades by researchers of many fields. Serial singularities produce some local loss of dexterity of the manipulator, therefore it might be desirable to search for singularityfree trajectories in the jointspace. On the other hand, parallel singularities are very dangerous for parallel manipulators, for they may provoke the local loss of platform control, and jeopardize the structural integrity of links or actuators. It is therefore utterly important to avoid parallel singularities, while operating a parallel machine. Furthermore, there might be some configurations of a parallel manipulators that are allowed by the constraints, but nevertheless are unreachable by any feasible path. The present work proposes a numerical procedure based upon Morse theory, an important branch of differential topology. Such procedure counts and identify the singularity-free regions that are cut by the singularity locus out of the configuration space, and the disjoint regions composing the configuration space of a parallel manipulator. Moreover, given any two configurations of a manipulator, a feasible or a singularity-free path connecting them can always be found, or it can be proved that none exists. Examples of applications to 3R and 6R serial manipulators, to 3UPS and 3UPU parallel wrists, to 3UPU parallel translational manipulators, and to 3RRR planar manipulators are reported in the work.

Tipologia del documento
Tesi di dottorato
Paganelli, Davide
Dottorato di ricerca
Settore disciplinare
Settore concorsuale
Parole chiave
singularity topology manipulator robot
Data di discussione
17 Aprile 2008

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