Singularity analysis of 3-RPR parallel manipulators using geometric algebra

DOI10.1007/S00006-017-0794-YMaRDI QIDQ1695128zbMATH OpenOpenAlexFDO

Authors Huijing Yao, Qiaohong Chen, Xinxue Chai, Qinchuan Li

Publication date 7 February 2018

Published in Advances in Applied Clifford Algebras (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s00006-017-0794-y

zbMATH Keywords

geometric algebrasingularity analysisparallel manipulator

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Clifford algebras, spinors (15A66)

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Cites work

• Applications of Clifford's geometric algebra
• Computation of projective invariants using the trifocal tensor
• Conformal geometric algebra for robotic vision
• Foundations of geometric algebra computing.
• Geometric algebra with applications in engineering
• Geometric computing. For wavelet transforms, robot vision, learning, control and action.
• Graphical singularity analysis of 3-DOF planar parallel manipulators
• Motor algebra of 3D kinematics: The case of the hand-eye calibration
• New foundations for classical mechanics.
• Screw theory based singularity analysis of lower-mobility parallel robots considering the motion/force transmissibility and constrainability
• Singularity analysis for six practicable 5-DoF fully-symmetrical parallel manipulators
• Singularity analysis of a 4-DOF parallel manipulator using geometric algebra
• Singularity analysis of a class of parallel robots based on Grassmann-Cayley algebra
• Singularity analysis of planar parallel manipulators based on forward kinematic solutions
• The Isotropic Design of Two General Classes of Planar Parallel Manipulators
• The quartic singularity surfaces of planar platforms in the Clifford algebra of the projective plane.

Cited in

(17)

• Graphical singularity analysis of 3-DOF planar parallel manipulators
• 3-PRRR redundant planar parallel manipulator: inverse displacement, workspace and singularity analyses
• Topology optimisation and singularity analysis of a 3-SPS parallel manipulator with a passive constraining spherical joint.
• New applications of Clifford's geometric algebra
• Singularity analysis of the 3/6 Stewart parallel manipulator using geometric algebra
• Singularity analysis of planar parallel manipulators based on forward kinematic solutions
• Comparative study of three new approaches to the solution of the direct geometric problem of parallel manipulators.
• On the determination of cusp points of 3-RPR parallel manipulators
• Singularity analysis of parallel manipulators using constraint plane method
• Singularity analysis of a 4-DOF parallel manipulator using geometric algebra
• Measuring the closeness to singularities of a planar parallel manipulator using geometric algebra
• A new mathematical method to study the singularity of 3-RSR multimode mobile parallel mechanism
• Singularity distance computations for 3-RPR manipulators using intrinsic metrics
• A geometric approach for forward kinematics analysis of a 3-SPS/S redundant motion manipulator with an extra sensor using conformal geometric algebra
• Application of line geometry and linear complex approximation to singularity analysis of the 3-DOF caPaMan parallel manipulator.
• Non-singular assembly-mode changing motions for 3-R{\b P}R parallel manipulators
• Singularity analysis of a class of parallel robots based on Grassmann-Cayley algebra

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