Line Geometry Tools for the

Analysis and Synthesis of a Medical

Parallel Robot

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 Leading Researchers
„ Ball [1900], Hunt [1978] ,Phillips [1984] (screw
theory and mechanisms).
„ Fichter [1986] (design + singularity).
„ Dandurand [1984] (Line geometry).
„ Merlet[1989; 1991] (Singularity, Workspace,
Optimization).
„ Gosselin, Lipkin, Husty, Karger. (Rigidity,
Kinematics, Singularity, Optimization)
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 Jacobian Matrix…more
„ Conditions for static equilibrium of the
moving platform. External Load

∑ ∑ Fi = Fe Me Fe

∑M = ∑M i e
Platform

Mi Robot Fi
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 Application to Parallel robots
ŝi

„ Example, Stewart Gough platform

Platform
Static equilibrium condition on the platform

∑
6 ri

f i sˆi − Fe = 0 Spherical Joint

i =1

∑ w
R p rˆi × f i sˆi − M e = 0 Prismatic joint

writing in matrix form:

Universal joint

 644444444444444 47J T 444444444444444 8 f 

 sˆ1 sˆ2 sˆ3 sˆ4 sˆ5 sˆ6  1
w   :  =  Fe 
 R p rˆ1 × sˆ1
w
R p rˆ2 × sˆ2 w R p rˆ3 × sˆ3 w R p rˆ4 × sˆ4 w R p rˆ5 × sˆ5 w R p rˆ6 × sˆ6     M e 
   f 6 
 

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 Jacobian Matrix of a Stewart
Gough Platform
„ “The rows (columns in serial robots) of the
Jacobian matrix of a parallel robot are
Plücker coordinates of lines”. [Merlet, 1992]

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Jacobian Relations

−1
q& = J x& ⇒ x& = J q&
T
fe = J f ⇒ f = J ( )
T −1
fe

What if J is singular ?!

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 Common methods for Singular
Configuration Identification
„ Numerical methods. [Feng and Haug, 1994;
Gosselin and Wang, 1995]

„ Rank of the Jacobian. [Ma and Angeles,1992]

„ Eigenvalues of the Jacobian matrix. [Gosselin
and Angeles, 1990; Zlatanov et al. ,1994]

„ Line geometry. [Dandurand,1984;Merlet, 1989,

Collins and long,1995; Ben-Horin, 1997].

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 Singular Configuration – our
contribution
„ An algorithm, based on line geometry tools,
that provides a qualitative measure and a
physical understanding of the robots’
behavior while in a singular configurations or
in the vicinity of the singular configuration.

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 Line Based Singularities – key
point
„ A position of a parallel robot is singular if and
only if the position of its legs lie in a linear
complex [Merlet, 1992; Husty and Karger, 1997] . (could be
one two or three)

1
2
3

5 4

Linear Complex
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 Reciprocal Product of Lines,
Twist and Wrench
„ Lines (L, and H)
( )
Ω( L, H ) = l ⋅ h + l ⋅ h = − r ⋅ sin λ

„ Twist and Wrench

δw = Fω [( p + pr ) cos λ − r sin λ ]
If a wrench acting on a rigid body in such that
it produces no work while the body is
undergoing an infinitesimal twist the two are
said to be reciprocal to each other and δw = 0 ,
and the instantaneous rate of working is zero.
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 Analysis of Parallel Robots: Linear
Complex Regression Algorithm
„ We find the closest linear complex, C, to a set
of k lines (the rows of the Jacobian) given in
their normalized Plücker coordinates.
„ C, is computed as the minimizer of:
k 2

F(X ) = ∑ xl + xl
i =1
i i

among all linear complexes X given by:

X = ( x, x ) ∈ ℜ 6

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 Algorithm…more
r
 x   Instantaneous Angular deformation    1s  
X =  r ,      (Twist )
x Instantaneous Translation deformation  L 
    s 
 l   Force   L 
L =  ,      Wrench
l Torque  FF 
    
Minimizing the positive semi-definite quadratic
form 2

F ( X ) = ∑ x li + xli = X T MX [F L s ] ( Power 2 )
k
2 2
2

i =1
2
Under the condition: x = 1 = X T DX , D = diag(1,1,1,0,0,0)

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 Algorithm…more
„ M is the Gramian given by:
T T
li ⋅ li li ⋅ li F 2 L2 F 2L
∑
k
M= T
= 2
i =1 li ⋅ liT li ⋅ li F L F2
„ Using Lagrangian multiplier λ:
(M − λD )X = 0, X T DX = 1
⇓
det (M − λD ) = 0

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 Algorithm…more
„ The solution provides:
eigenvalues eigenvectors
6 474 8 64748
det (M − λD ) ⇒ λ1 , λ2 , λ3 , X 1 , X 2 , X 3

„ The solution C is the eigenvector, Xi

corresponds to the smallest eigenvalue λi.
„ The pitch of C is given by: p = c ⋅ c 2
c
„ The axis of C is given by: A = (a, a ) = (c, c − p ⋅ c )

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 Algorithm – meaning of the solution
„ A smaller λi means that the set of wrenches
defined by the rows of the Jacobian, generate
small work to the platform while it is
instantaneously moving in the twist direction
defined by Xi
„ λi =0 meaning that the set of wrenches defined
by the rows of the Jacobian can not generate
any work to the platform while it is
instantaneously moving in the twist direction
defined by Xi . This is a singular configuration
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 Algorithm – Families of solution
complexes
„ One λ=0 or very small: A linear Complex.
„ Two λ=0 : Two linear complex, the solution
is the intersection of them – a special two
parameters family of lines, a Congruence.
„ Three λ=0: Three linear complex, the
solution is the intersection of the three – a
one parameter family of generator lines of a
ruled quadric, i.e Regulus.

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 Algorithm – Conclusion and
„ Input : set of wrenches (rows of the
Jacobian matrix-lines).
„ Output: λ, C (Axis, Pitch)
* Provides information on the instantaneous
motion of the manipulator while in or close
to a singular configuration.
* sensitivity to manufacturing tolerances
can be evaluated by the closeness of the
linear complex to the set of lines.
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 Application to Parallel robots
ŝi

„ Example, Stewart Gough platform

Platform
Static equilibrium condition on the platform

∑
6 ri

f i sˆi − Fe = 0 Spherical Joint

i =1

∑ w
R p rˆi × f i sˆi − M e = 0 Prismatic joint

writing in matrix form:

Universal joint

 644444444444444 47J T 444444444444444 8 f 

 sˆ1 sˆ2 sˆ3 sˆ4 sˆ5 sˆ6  1
w   :  =  Fe 
 R p rˆ1 × sˆ1
w
R p rˆ2 × sˆ2 w R p rˆ3 × sˆ3 w R p rˆ4 × sˆ4 w R p rˆ5 × sˆ5 w R p rˆ6 × sˆ6     M e 
   f 6 
 

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 Example: Hunts’ singularity
(Stewart 6x3)
40

30
Lin
e ar
Co m 20
p le

Z
xA
x is
10

0
40

20
0 10
0
-20 -10
-20
-30
-40 -40
Y X
0.02

A zero pitch linear complex

0.018

0.016

located at the upper edge of the

0.014

0.012

sqrt(lambda)
0.01

platform with λ=0 is obtained by 0.008

0.006

the algorithm. 0.004

0.002

0
299.78 299.8 299.82 299.84 299.86 299.88 299.9 299.92 299.94 299.96 299.98
Theta

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 Example: Fichters’ Singularity
(Stewart 6x6)
Linear Complex Axis

40

30

20

Z
10

0
40
20 40
30
0 20
10
0
-20 -10
-20
-30
-40 -40
Y X

0.5

0.45

A non-zero pitch linear

0.4

0.35

0.3

complex perpendicular to the sqrt(lambda)

0.25

0.2

upper platform, with λ=0 is 0.15

0.1

obtained by the algorithm.

0.05

0
50 60 70 80 90 100 110 120
Theta

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 Example: The 3UPU Singularity
at Home Position, and Self Motion
„ 3-DOF parallel robot with
three identical kinematic
changes of universal
prismatic and universal
joints (3UPU). While in
home position, an
unexpected self motion is
observed.

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 The 3UPUs’ Jacobian

 s3T,1 (b1 × s3,1 )T 

w
v

 T T
J =  s3, 2 (b2 × s3, 2 ) 
bi $̂5,i
u
Bi

 s T (b × s )T  P
$̂4,i

 3,3 3 3,3  z $̂3,i

di

When using Vector analysis, a y

3x6 Jacobian is obtained, not x ai

capable of mapping an
$̂2,i
Ai

external wrench to the torques $̂1,i

of the actuators
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The 3UPUs’ Jacobian Static
equilibrium conditions of the platform
3

∑ f Sˆ
i =1
i i − Fe = 0
3 3

∑ i i ∑ P p, i i i e
m U
i =1
ˆ + w
R ⋅ ˆ
r × f ⋅ ˆ −M =0
S
i =1
m3
Ŝ3

f3 Ŝi uˆ
1,i
Fe m1 rˆp ,i
Me Ŝ1
m2 Ŝ 2
rˆp ,i
m̂i
uˆ2,i Uˆ i = uˆ 2,i × uˆ1,i
f1
f2

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 The 3UPUs’ Jacobian from Static
Equilibrium Condition on the Platform
 f1 
64444444444447 J T 4444444444448  f 
 2
 Sˆ1 Sˆ 2 Sˆ3 0 0 0   f 3   Fe 
w ˆ w R ⋅ rˆ × Sˆ w ˆ Uˆ Uˆ Uˆ   m  =  M 
R ⋅ rˆ
 P p ,1 1× S R ⋅ rˆ × S 3  1   e
P p ,2 2 P p, 3 3 1 2

 m2 
 
 m3 

„ The first three rows of J are three forces of

actuation (along the three limbs). The last
three row of J represent three moments of
constraint, each perpendicular to the U joint
of a limb.
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 3UPU - Results
„ The three linear complexes axis obtained are:
A1= [-0.9382 0.3460 0.0000 -34.5987 -93.8239 0.0000]
A2= [0.3460 0.9382 0.0000 -93.8239 34.5987 0.0000]
A3= [0.0000 0.0000 1.0000 0.0000 0.0000 0.0000]
„ Eigenvalue: λ1 = 0, λ 2 = 0, λ3 = 3
„ Pitch: Pitch1 = 0, Pitch2 = 0, Pitch3 = 0
„ the lines of J are contained in two zero-pitch
linear complexes defining a congruence.
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 3UPU - Results
IPL

r 0.06
100
0.05
80
0.04

60

rigidity
0.03
Z

40 0.02

20 0.01

0 0
40 50

20 40
40 50
30 30 40
0 20
10 30
0 20
-20 -10 20
-20 10
-30 10
-40 -40 0
Y 0
X Point in layer
Point in layer

In the vicinity of the home position the lines are

contained in two close linear complexes, offering a
theoretical explanation of the observed sensitivity
of this mechanism to manufacturing tolerances.
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