|
|
Foundations of Robotics
Seminar, December 13, 2005
Time
and Place | Seminar Abstract | Speaker
Biography | Presentation Slides | Speaker
Appointments
Graphical
Singularity Analysis of Planar Parallel Manipulators
Amir Degani
1109 Newell-Simon Hall
Refreshments 4:15 pm
Talk 4:30 pm
Graphical Singularity Analysis of Planar Parallel
Manipulators
Parallel manipulators have various advantages over
serial manipulators, such as high payload-to-weight ratio, high accuracy, and
high rigidity. However, they also have a few drawbacks such as a relatively
small workspace, relatively complex kinematics and a failure while in, or close
to singular configurations. In these configurations, the mechanism tends to
lose its stiffness while gaining extra degrees of freedom.
In this talk I will present a new method to
graphically determine the singularities of planar parallel manipulators. This
method integrates screw theory tools with the field of graphical statics (based on J.C. Maxwell's reciprocal figure theory).
This seminar is presented in partial fulfillment for
the requirements of the degree of Master of Science in Robotics.
Committee members: Howie Choset, Alon
Wolf, Matt Mason, Aaron Greenfield.
|
Speaker Appointments |
For appointments, please contact Amir Degani (adegani@andrew.cmu.edu)
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.