On the 5R spherical, symmetric manipulator: workspace and singularity characterization

DOI10.1016/J.MECHMACHTHEORY.2003.09.005MaRDI QIDQ1880807zbMATH OpenOpenAlexFDO

Authors Emilio J. González-Galván, J. Jesús Cervantes-Sánchez, J. Cesar Hernández-Rodríguez

Publication date 1 October 2004

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

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2003.09.005

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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(5)

• On the workspace determination of spherical serial and platform mechanisms.
• On the kinematic design of the 5R planar, symmetric manipulator
• Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism
• Symmetrical characteristics of the workspace for spatial parallel mechanisms with symmetric structure
• Geometric characterization of the workspace of non-orthogonal rotation axes

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