Singularity analysis for six practicable 5-DoF fully-symmetrical parallel manipulators

DOI10.1016/J.MECHMACHTHEORY.2008.05.012MaRDI QIDQ1016942zbMATH OpenOpenAlexFDO

Authors J. Martínez

Publication date 14 May 2009

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

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2008.05.012

zbMATH Keywords

screw theoryGrassmann geometry

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Recommendations

• Type synthesis of 5-DOF parallel manipulators based on screw theory
• Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms
• Kinematic analysis and singularity representation of spatial five-degree-of-freedom parallel mechanisms
• Application of line geometry and linear complex approximation to singularity analysis of the 3-DOF caPaMan parallel manipulator.
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Cites work

• scientific article; zbMATH DE number 3623000 (Why is no real title available?)
• Identification and classification of the singular configurations of mechanisms.
• The Singularity Principle and Property of Stewart Parallel Manipulator
• Type synthesis of 5-DOF parallel manipulators based on screw theory

Cited in

(5)

• Analysis and conception of a parallel spatial manipulator with five degrees of freedom
• Families of 6R orthogonal robotic manipulators with only isolated and pseudo-isolated singular\-i\-ties
• Singularity analysis of 3-RPR parallel manipulators using geometric algebra
• On the 5R spherical, symmetric manipulator: workspace and singularity characterization
• Singularity characterization and path planning of a new 3 links 6-DOFs parallel manipulator

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