Conditions for line-based singularities in spatial platform manipulators

DOI10.1002/(SICI)1097-4563(199812)15:1%3C43::AID-ROB4%3E3.0.CO;2-SMaRDI QIDQ4393207zbMATH OpenOpenAlexFDO

Authors Fangli Hao, J. Michael McCarthy

Publication date 16 December 1998

Full work available at URL https://doi.org/10.1002/(sici)1097-4563(199812)15:1%3C43::aid-rob4%3E3.0.co;2-s

zbMATH Keywords

geometric classification of singularitiesserial supporting robotic chainsStewart platform

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Recommendations

• scientific article; zbMATH DE number 1424267
• Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform
• Topological and kinematic singularities for a class of parallel mechanisms
• Singularity of a class of Gough-Stewart platforms with three concurrent joints

Cited in

(7)

• Second order analysis of the mobility of kinematic loops via acceleration compatibility analysis
• Screw theory based singularity analysis of lower-mobility parallel robots considering the motion/force transmissibility and constrainability
• Spherically actuated platform manipulator
• Second-order mobility analysis of mechanisms using closure equations
• A short note on point singularities for robot manipulators
• The kinematics for redundantly actuated omnidirectional mobile robots
• Problem of intersection of two fourth order screw systems and its application for constraint determination in hybrid mechanisms

This page was built for publication: Conditions for line-based singularities in spatial platform manipulators

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q4393207)