Twists of movements of parallel mechanisms inside their singularities

Mechanism and Machine Theory

Volumn 41, Issue 10, 2006, Pages 1185-1195

  Glazunov, Victor ^a  

^a MECHANICAL ENGINEERING RESEARCH INSTITUTE   (Russian Federation)

Author keywords

Parallel mechanism; Twists inside singularity

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); MECHANISMS; PARALLEL PROCESSING SYSTEMS;

PARALLEL MECHANISMS; SINGULARITIES; TWISTS INSIDE SINGULARITY;

ELECTRIC MACHINE THEORY;

EID: 33746368032     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2005.12.001     Document Type: Article

References (16)

1. Hunt K. Structural kinematics of in-parallel-actuated robot arms. ASME Journal of Mechanisms, Transmissions, and Automation in Design 105 4 (1983) 705-712
2. Merlet J.P. Singular configurations of parallel manipulators and Grassman geometry. The International Journal of Robotic Research 8 5 (1989) 45-56
3. Gosselin C.M., and Angeles J. Singularity analysis of closed loop kinematic chains. IEEE Transactions on Robotics and Automation 6 3 (1990) 281-290
4. V. Parenti-Castelli, C. Innocenti, Direct displacement analysis for some classes of spatial parallel mechanisms, in: Proceedings, VIII CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Cracow, Poland, 1990, pp. 123-130.
5. H. Funabashi, Y. Takeda, Determination of singular points and their vicinity in parallel manipulators based on the transmission index, in: Proceedings, IX World Congress on the TMM, Milano, Italy, 1995, pp. 1977-1981.
6. Zlatanov D., Fenton R.G., and Benhabib B. Identification and classification of the singular configurations of mechanisms. Mechanism and Machine Theory 33 6 (1998) 743-760
7. Y.N. Sarkissyan, T.F. Parikyan, Analysis of special configurations of parallel topology manipulators, in: Eight CISM IFToMM Symposium of Robots and Manipulators, Krakow, Poland, 1990, pp. 156-163.
8. Z. Huang, The kinematics and type synthesis of lower-mobility parallel robot manipulators, in: Proceedings, XI World Congress in Mechanism and Machine Science, Tianjin, China, 2004, pp. 65-76.
9. Gosselin C., and Wang J. Singularity loci of planar parallel manipulators with revolute actuators. Robotics and Autonomous Systems 21 (1997) 377-398
10. Glazunov V., and Rashoyan G. The directions of motions of l-co-ordinate manipulators from special configurations. Journal of Machinery 7 (1990) 9-12 (in Russian)
11. A. Kraynev, V. Glazunov, Design and analysis of spatial mechanisms with parallel structure, in: Proceedings, VIII World Congress on TMM, Prague, Czechoslovakia, 1991, pp. 105-108.
12. V. Glazunov, A. Kraynev, G. Rashoyan, A. Trifonova, Singular zones of parallel structure mechanisms, in: Proceeding, X World Congress on TMM, Oulu, Finland, 1999, pp. 2710-2715.
13. V. Glazunov, A. Kraynev, G. Rashoyan, A. Trifonova, R. Bykov, N. Novikova, Neighboring special configurations of parallel manipulators, theory and practice of robots and manipulators (RoManSy), in: Proceedings of XIV CISM-IFToMM Symposium, Springer, Wien, New York, 2002, pp. 59-66.
14. Sugimoto K., Duffy J., and Hunt K. Special configurations of spatial mechanisms and robot arms. Mechanism and Machine Theory 17 2 (1982) 119-132
15. V.A. Glazunov, V.E. Bolnokin, P.B. Khoi, O.V. Glazunova, M.G. Makarow, Singular zones of parallel manipulators and joint manipulating mechanisms, in: Proceedings of the 11th World Congress in Mechanism and Machine Science, Tianjin, China, 2004, pp. 173-176.
16. Glazunov V.A., and Dimentberg F.M. A singular position of a spatial five-bar formed from two Bennett mechanisms. Soviet Machine Science (Academy of Sciences of the USSR) vol. 5 (1984), Allerton Press Inc. pp. 48-52