2002•Journal of Mechanical DesignRequires access

Jacobian Analysis of Limited-DOF Parallel Manipulators

Sameer A. Joshi, Lung‐Wen Tsai

Abstract

This paper presents a methodology for the Jacobian analysis of limited degrees-of-freedom (DOF) parallel manipulators. A limited-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees-of-freedom. It is shown that a 6×6 Jacobian matrix, which provides information about both architecture and constraint singularities, can be derived by making use of the theory of reciprocal screws. The 3-UPU and 3-RPS parallel manipulators are used as examples to demonstrate the methodology.

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Key concepts: Jacobian matrix and determinant, Parallel manipulator, Screw theory, Degrees of freedom (physics and chemistry), Constraint (computer-aided design), Computer science, Control theory (sociology), Gravitational singularity