Kinematic analysis and singularity loci of spatial four-degree-of-freedom parallel manipulators using a vector formulation

Journal of Mechanical Design, Transactions of the ASME

Volumn 120, Issue 4, 1998, Pages 555-558

  Wang, J ^a   Gosselin, C M ^a  

^a UNIVERSITÉ LAVAL   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; DEGREES OF FREEDOM (MECHANICS); GEOMETRY; INVERSE KINEMATICS; MATHEMATICAL MODELS; MATRIX ALGEBRA; ROBOTICS; VECTORS;

JACOBIAN MATRICES; PARALLEL MANIPULATORS; VECTOR FORMULATION; VELOCITY EQUATIONS;

MANIPULATORS;

EID: 0032304795     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2829314     Document Type: Article

References (10)

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2. Gosselin, C., 1990, “Determination of the Workspace of 6-DOF Parallel Manipulators,” ASME JOURNAL OF MECHANICAL DESIGN, Vol. 112, No, 3, pp. 331-336.
3. Gosselin, C., and Angeles, JM 1990. “Singularity Analysis of Closed-Loop Kinematic Chains,” IEEE Transactions on Robotics and Automation, Vol. 6, No. 3, pp. 281-290.
4. Gosselin, C., and Wang, J., 1995, “Singularity Loci of Planar Parallel Manipulators,” Proceedings of the Ninth World Congress on the Theory of Machines and Mechanisms, Milano, Italy, Vol. 2, pp. 1973-1976.
5. Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Oxford University Press, Cambridge.
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8. Stewart, D., 1965, “A Platform With Six Degrees of Freedom.” Proceed-ings of the Institution of Mechanical Engineers, Vol. 180, No. 5, pp. 371-378.
9. Zlatanov, D., Fenton, R. G., and Benhabib, B., 1994, “Singularity Analysis of Mechanisms and Robots Via a Motion-Space Model of the Instantaneous Kinematics,” Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 980-991.
10. Wang, J., and Gosselin, C., 1996, “Kinematic Analysis and Singularity Loci of Spatial Four-Degree-of-Freedom Parallel Manipulators,” Proceedings of the ASME Mechanisms Conference, Irvine, California, 19-22 August.