Singularity Analysis of Lower Mobility Parallel Manipulators Using Grassmann–Cayley Algebra
نویسندگان
چکیده
منابع مشابه
Singularity Analysis of Lower Mobility Parallel Manipulators Using Grassmann-Cayley Algebra
1 Abstract—This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform. Lower-mobility parallel manipulators and parallel manipulators, of which some legs do not have any spherical joint, are such manipulators. The geometric conditions associated with the dependency of...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2009
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2009.2017132