Traversing the singularity hypersurface by applying the input disturbances to 6-SPS parallel manipulator

DOI10.1631/JZUS.A0720034MaRDI QIDQ5966414zbMATH OpenOpenAlexFDO

Authors Yu-tong Li, Yuxin Wang, Shuangxia Pan, Ruiqin Guo

Publication date 15 December 2009

Published in Journal of Zhejiang University. Science A (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1631/jzus.a0720034

zbMATH Keywords

parallel manipulatorsingularity hypersurfacesingularity-free moving region

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Random vibrations in mechanics of particles and systems (70L05)

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(3)

• Traversing the singularity hypersurface by applying the input disturbances to 6-SPS parallel manipulator
• A novel method to avoid turning point singularities for the semi-regular hexagons Gough-Stewart parallel manipulator
• Singularity characterization and path planning of a new 3 links 6-DOFs parallel manipulator

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