SINGULARITY ANALYSIS OF THE 4 RUU PARALLEL MANIPULATOR USING GRASSMANN-CAYLEY ALGEBRA
نویسندگان
چکیده
منابع مشابه
Singularity analysis of the H4 robot using Grassmann-Cayley algebra
This paper extends a recently proposed singularity analysis method to lower-mobility parallel manipulators having an articulated nacelle. Using screw theory, a twist graph is introduced in order to simplify the constraint analysis of such manipulators. Then, a wrench graph is obtained in order to represent some points at infinity on the Plücker lines of the Jacobian matrix. Using GrassmannCayle...
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due to the limiting workspace of parallel manipulator and regarding to finding the trajectory planning of singularity free at workspace is difficult, so finding a best solution that can develop a technique to determine the singularity-free zones in the workspace of parallel manipulators is highly important. in this thesis a simple and new technique are presented to determine the maximal singula...
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ژورنال
عنوان ژورنال: Transactions of the Canadian Society for Mechanical Engineering
سال: 2011
ISSN: 0315-8977
DOI: 10.1139/tcsme-2011-0031