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Obtaining configuration space and singularity maps for parallel manipulators

โœ Scribed by E. Macho; O. Altuzarra; E. Amezua; A. Hernandez

Publisher
Elsevier Science
Year
2009
Tongue
English
Weight
936 KB
Volume
44
Category
Article
ISSN
0094-114X

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Analysis of configuration space singular
Analysis of configuration space singularities of closed-loop mechanisms and parallel manipulators
โœ Sandipan Bandyopadhyay; Ashitava Ghosal ๐Ÿ“‚ Article ๐Ÿ“… 2004 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 457 KB

A parallel manipulator or a closed-loop mechanism may gain or loose one or more degree-of-freedom at a singular point, and in this paper, we study the singularity associated with the gain of one or more degreesof-freedom. We analyze the constraint forces associated with the kinematic constraints inh