Analytic formulation of the 6-3 fully-parallel manipulator's singularity determination

Robotica

Volumn 19, Issue 6, 2001, Pages 663-667

  Di Gregorio, R ^a  

^a UNIVERSITY OF FERRARA   (Italy)

Author keywords

Kinematics; Mobility analysis; Parallel manipulators; Singularity locus

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; GEOMETRY; INVERSE PROBLEMS; KINEMATICS; LINEAR SYSTEMS; MATRIX ALGEBRA; MOBILE ROBOTS; MOTION PLANNING; NONLINEAR EQUATIONS; POLYNOMIALS; VECTORS;

ACCELERATION ANALYSIS; MOBILITY ANALYSIS; PARALLEL MANIPULATOR; POSITION ANALYSIS; SINGULARITY LOCUS; VELOCITY ANALYSIS;

MANIPULATORS;

EID: 0035513412     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/s0263574701003472     Document Type: Article

References (13)

1. Exhaustive enumeration of fully-parallel kinematic chains
2. A platform with six degrees of freedom
3. Direct position analysis of the Stewart platform mechanism
4. Closed-form solution of the direct kinematics of the 6-3 type Stewart platform using one extra sensor
5. Singularity analysis of closed-loop kinematic chains
6. Singularity analysis and representation of the general Gough-Stewart platform
7. Singularity loci of planar parallel manipulators
8. Étude et représentation des lieux de singularité des manipulateurs parallèles sphériques à trois degrés de liberté avec actioneurs prismatiques
9. On the quadratic nature of the singularity curves of planar three-degree-of-freedom parallel manipulators
10. Influence of the geometric parameters of the 3-UPU parallel manipulator on the singularity loci
11. Singular configurations of parallel manipulators and Grassmann geometry