King's College London

Research portal

Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism That Eliminates Singularities and Improves Dexterity

Research output: Contribution to journalConference paper

Jody A. Saglia, Jian S. Dai, Darwin G. Caldwell

Original languageEnglish
Article number124501
Pages (from-to)1245011-1245015
Number of pages5
JournalJournal of Mechanical Design
Issue number12
Publication statusPublished - Dec 2008
EventASME International Design Engineering Technical Conferences/Computers and Information in Engineering Conference - Las Vegas, NV
Duration: 4 Sep 20077 Sep 2007

King's Authors


This paper investigates the behavior of a type of parallel mechanisms with a central strut. The mechanism is of lower mobility, redundantly actuated, and used for sprained ankle rehabilitation. Singularity and dexterity are investigated for this type of parallel mechanisms based on the Jacobian matrix in terms of rank deficiency and condition number, throughout the workspace. The nonredundant cases with three and two limbs are compared with the redundantly actuated case with three limbs. The analysis demonstrates the advantage of introducing the actuation redundancy to eliminate singularities and to improve dexterity and justifies the choice of the presented mechanism for ankle rehabilitation.

View graph of relations

© 2018 King's College London | Strand | London WC2R 2LS | England | United Kingdom | Tel +44 (0)20 7836 5454