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

Stewart platformgeometric classification of singularitiesserial supporting robotic chains

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(6)

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

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