Singularity curves of a parallel pointing system

Meccanica

Volumn 37, Issue 3, 2002, Pages 255-268

  Di Gregorio, Raffaele ^a   Sinatra, Rosario ^b  

^a UNIVERSITY OF FERRARA   (Italy)

^b UNIVERSITY OF CATANIA   (Italy)

Author keywords

Parallel manipulators; Singular configurations; Singularity locus; Velocity analysis

Indexed keywords

ACCELERATION; ALGORITHMS; CALCULATIONS; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; GEOMETRY; INVERSE PROBLEMS; MANIPULATORS; MATRIX ALGEBRA; PARABOLIC ANTENNAS; POLYNOMIALS; VELOCITY;

PARALLEL MANIPULATOR; SINGULAR CONFIGURATIONS; SINGULARITY LOCUS; VELOCITY ANALYSIS;

KINEMATICS;

EID: 0036391257     PISSN: 00256455     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1020112619907     Document Type: Article

References (8)

1. Innocenti, C. and Parenti-Castelli, V., 'Exhaustive enumeration of fully-parallel kinematic chains', In: ASME Int. Winter Annual Meeting, Chicago, USA, DSC-Vol. 55(2) 1994, pp. 1135-1141.
2. Husty, M.L., 'An algorithm for solving the direct kinematics of the Stewart-Gough platform', Mech. Machine Theory 31(4) (1996) 365-380
3. Innocenti, C., 'Forward kinematics in polynomial form of the general Stewart platform', In: Proc. ASME Design Engineering Technical Conference, Atlanta, GA, USA, Paper No. DETC98/MECH-5894, 1998.
4. Gosselin, C. and Angeles, J., 'Singularity analysis of closed-loop kinematic chains,' IEEE Trans. Robot. Automat. 6(3) (1990) 281-290.
5. Zlatanov, D., Fenton, R.G. and Benhabib, B., 'A unifying framework for classification and interpretation of mechanism singularities', J. Mech. Design 117(4) (1995) 566-572.
6. Romagnoli, R., Two-dof parallel mechanism for human shoulder prosthesis: conceptual design and feasibility analysis', (in Italian) Master Thesis, University of Bologna, Italy, 1999.
7. Innocenti, C. and Parenti-Castelli, V., 'Echelon form solution of direct kinematics for the general fully-parallel spherical wrist', Mech. Machine Theory 28(4) (1993) 553-561.
8. Wolfram, S., Mathematica: A System for Doing Mathematics by Computer, Addison-Wesley Publishing Company, New York, U.S.A., 1992.