Abstract
This paper presents compact analytical expressions of the singularity locus of some architectures of cable-suspended robots. The optimal architecture proposed in previous work is first recalled. An alternative reference configuration is proposed, yielding a slightly modified architecture. The kinematic model of the robot is derived and a general expression for the Jacobian matrix is obtained. Then, a decomposition of the Jacobian matrix is derived based on a careful inspection of the general expressions. The proposed decomposition yields simple expressions for the singularity locus, which are obtained for each of the two architectures. The expressions obtained are very compact and can be used for design or trajectory planning.
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The authors would like to thank the Natural Sciences and Engineering Research Council of Canada for its financial support.
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Dion-Gauvin, P., Gosselin, C. (2023). Compact Expressions of the Singularity Locus of Optimal Cable-Suspended Robots. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 148. Springer, Cham. https://doi.org/10.1007/978-3-031-45770-8_3
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DOI: https://doi.org/10.1007/978-3-031-45770-8_3
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