Classification and analysis of constraint singularities for parallel mechanisms using differential manifolds

DOI10.1016/j.apm.2019.07.040zbMath1473.70015OpenAlexW2965309789MaRDI QIDQ1988670

Shuofei Yang, Yangmin Li

Publication date: 24 April 2020

Published in: Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.apm.2019.07.040

zbMATH Keywords

parallel mechanismdifferential manifoldbifurcated motionsconstraint singularityinstantaneous DoFs

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33)

Related Items (1)

Dynamics analysis of spatial parallel robot with rigid and flexible links

Cites Work

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• Automatic synthesis of kinematic structures of mechanisms and robots especially for those with complex structures
• Unified solving inverse dynamics of 6-DOF serial-parallel manipulators
• Kinematic and dynamic analysis of the Gantry-Tau, a 3-DoF translational parallel manipulator
• Mobility analysis of overconstrained parallel mechanism using Grassmann-Cayley algebra
• New kinematics Hessian matrixes of manipulators based on skew-symmetric matrixes theory
• Topology Design of Robot Mechanisms

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