A new mathematical method to study the singularity of 3-RSR multimode mobile parallel mechanism

DOI10.1155/2019/1327167MaRDI QIDQ2298038zbMATH OpenOpenAlexWikidataFDO

Authors Chunyan Zhang, Yu Wan, Dan Zhang, Qihua Ma

Publication date 20 February 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2019/1327167

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

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Cites work

• Parallel robots.
• Singularity analysis of parallel manipulators using constraint plane method
• The quartic singularity surfaces of planar platforms in the Clifford algebra of the projective plane.

Cited in

(4)

• Singularity loci research on high-speed travelling type of double four-rod spatial parallel mechanism.
• A novel method for singularity analysis of the 6-SPS parallel mechanisms
• Screw theory based singularity analysis of lower-mobility parallel robots considering the motion/force transmissibility and constrainability
• On forward and inverse singularity of a 6-PRRS parallel robot

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