On the stability conditions for a class of parallel manipulators

M. M. Svinin; K. Ueda; M. Uchiyama

doi:10.1109/ROBOT.2000.846384

On the stability conditions for a class of parallel manipulators

M. M. Svinin, K. Ueda, M. Uchiyama

Research output: Contribution to journal › Article › peer-review

9 Citations (Scopus)

Abstract

This paper deals with the stability of a class of planar parallel mechanisms, called unifunctional manipulators. For this problem the stiffness matrix of the mechanisms is derived, and its basic properties are analyzed. Necessary and sufficient conditions for the stability are established in an analytical form by transforming the stiffness matrix to the center of stiffness. Next, at the level of force planning, the problem of stable force distribution is formulated. It is shown that an unstable force distribution can be stabilized by a simple control law if the mechanism is not in a singular configuration. Finally, conditions of the feedback stabilizability in singular configurations are established and illustrated on simple examples.

Original language	English
Pages (from-to)	2386-2391
Number of pages	6
Journal	Proceedings-IEEE International Conference on Robotics and Automation
Volume	3
DOIs	https://doi.org/10.1109/ROBOT.2000.846384
Publication status	Published - Apr 2000
Externally published	Yes

All Science Journal Classification (ASJC) codes

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

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10.1109/ROBOT.2000.846384

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AU - Ueda, K.

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AB - This paper deals with the stability of a class of planar parallel mechanisms, called unifunctional manipulators. For this problem the stiffness matrix of the mechanisms is derived, and its basic properties are analyzed. Necessary and sufficient conditions for the stability are established in an analytical form by transforming the stiffness matrix to the center of stiffness. Next, at the level of force planning, the problem of stable force distribution is formulated. It is shown that an unstable force distribution can be stabilized by a simple control law if the mechanism is not in a singular configuration. Finally, conditions of the feedback stabilizability in singular configurations are established and illustrated on simple examples.

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On the stability conditions for a class of parallel manipulators

Abstract

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