Second-order Taylor Stability Analysis of Isolated Kinematic Singularities of Closed-chain Mechanisms

Adrián Peidró, Óscar Reinoso, Arturo Gil, José María Marín, Luis Payá, Yerai Berenguer

Abstract

When the geometric design of a closed-chain mechanism is non-generic, the singularity locus of the mechanism may exhibit isolated points. It is well known that these isolated points are unstable since they disappear or generate/reveal cusps when the geometric design of the mechanism slightly deviates from a non-generic design, possibly affecting the ability of the mechanism to reconfigure without crossing undesirable singularities. This paper presents a method based on second-order Taylor expansions to determine how these isolated singularities transform when perturbing the different geometric parameters of a non-generic mechanism. The method consists in approximating the singularity locus by a conic section near the isolated singularity, and classifying the resulting conic in terms of the perturbations of the different geometric parameters. Two non-generic closed-chain mechanisms are used to illustrate the presented method: an orthogonal 3R serial arm with specified position for its tip, and the planar Stewart parallel platform.

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Paper Citation


in Harvard Style

Peidró A., Reinoso Ó., Gil A., Marín J., Payá L. and Berenguer Y. (2017). Second-order Taylor Stability Analysis of Isolated Kinematic Singularities of Closed-chain Mechanisms . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 351-358. DOI: 10.5220/0006428503510358


in Bibtex Style

@conference{icinco17,
author={Adrián Peidró and Óscar Reinoso and Arturo Gil and José María Marín and Luis Payá and Yerai Berenguer},
title={Second-order Taylor Stability Analysis of Isolated Kinematic Singularities of Closed-chain Mechanisms},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={351-358},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006428503510358},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Second-order Taylor Stability Analysis of Isolated Kinematic Singularities of Closed-chain Mechanisms
SN - 978-989-758-264-6
AU - Peidró A.
AU - Reinoso Ó.
AU - Gil A.
AU - Marín J.
AU - Payá L.
AU - Berenguer Y.
PY - 2017
SP - 351
EP - 358
DO - 10.5220/0006428503510358