Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories

DOI10.1016/J.MECHMACHTHEORY.2008.05.010MaRDI QIDQ1016986zbMATH OpenOpenAlexFDO

Authors J. Martínez

Publication date 14 May 2009

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2008.05.010

zbMATH Keywords

permutationlocal optimization

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Recommendations

• Variational approach for singularity-free path-planning of parallel manipulators.
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Cites work

• scientific article; zbMATH DE number 1049500 (Why is no real title available?)
• 3-PRRR redundant planar parallel manipulator: inverse displacement, workspace and singularity analyses
• Force capabilities of redundantly-actuated parallel manipulators
• Force redundancy in parallel manipulators: theoretical and practical issues.
• Force-unconstrained poses for a redundantly-actuated planar parallel manipulator
• The Isotropic Design of Two General Classes of Planar Parallel Manipulators

Cited in

(8)

• Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator
• Singularity distance computations for 3-RPR manipulators using intrinsic metrics
• Detachment avoidance of joint elements of a robotic manipulator with clearances based on trajectory planning
• A novel algorithm to generate backlash-free motions
• Variational approach for singularity-free path-planning of parallel manipulators.
• The Synthesis of Three-Degree-of-Freedom Planar Parallel Mechanisms with Revolute Joints (3-RRR) for an Optimal Singularity-Free Workspace
• The synthesis of planar parallel manipulators with prismatic joints for an optimal, singularity-free workspace
• Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators

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