Investigation on the Effort Transmission in Planar Parallel Manipulators
نویسندگان
چکیده
منابع مشابه
On the degenerated cases of architecturally singular planar parallel manipulators
In Theorem 3 of A. Karger, Architecturally singular non-planar parallel manipulators, Mechanism and Machine Theory, Vol. 43, No.3, pp. 335-346, 2008 all types of architecturally singular parallel manipulators with four collinear anchor points are listed. As the manipulator is assumed to be architecturally singular in the cited theorem the given conditions for each entry of this list are suffici...
متن کاملSensitivity Comparison of Planar Parallel Manipulators
HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau...
متن کاملKinematic Analysis of General Planar Parallel Manipulators
A kinematic mapping of planar displacements is used to derive generalized constraint equations having the form of ruled quadric surfaces in the image space. The forward kinematic problem for all three legged, three degree of freedom planar parallel manipulators thus reduces to determining the points of intersection of three of these constraint surfaces, one corresponding to each leg. The invers...
متن کاملMain Theorem on Planar Parallel Manipulators with Cylindrical Singularity Surface
In this article we prove that there do not exist non-architecturally singular Stewart Gough Platforms with planar base and platform and no four anchor points collinear, whose singularity set for any orientation of the platform is a cylindrical surface with rulings parallel to a given fixed direction p in the space of translations.
متن کاملResults on Planar Parallel Manipulators with Cylindrical Singularity Surface
In this article we give first results on Stewart Gough Platforms with planar base and platform, whose singularity set for any orientation of the platform is a cylindrical surface with rulings parallel to a given fixed direction p in the space of translations. In this case the singularity set can easily be visualized as curve by choosing p as projection direction. Moreover the computation of sin...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Mechanisms and Robotics
سال: 2013
ISSN: 1942-4302
DOI: 10.1115/1.4023325