Workspace and Singularity Analysis of a Two-Degree-of-Freedom 8-Bar Spatial Parallelogram Manipulator for Object Manipulation


Object manipulation without change of orientation is an important task in various applications. The use of parallelogram-based mechanisms to attain this has been limited by the fact that most of those are planar mechanisms. The work presented here describes a two degree of freedom, spatial parallelogram mechanism with only revolute joints which can be employed for object manipulation. The proposed mechanism has several advantages over other mechanisms for similar applications—large ratio of the workspace area to the fixed link’s dimensions; all the singularity positions form a well-defined curve, etc. A method to avoid uncontrolled motion at singular positions has also been proposed. Two methods for converting this concept to a three degree-of-freedom mechanism with a solid spheroid workspace have also proposed. A condition under which compact folding of the mechanism can be achieved has also been discussed which opens the possibility of applying it as a deployable mechanism.

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Talpada, D.A., Guha, A. & Seshu, P. Workspace and Singularity Analysis of a Two-Degree-of-Freedom 8-Bar Spatial Parallelogram Manipulator for Object Manipulation. J. Inst. Eng. India Ser. C 101, 603–617 (2020).

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  • Spatial parallel manipulator
  • Two degrees of freedom
  • Workspace
  • Singularity