Titlebook: Advances in Robot Kinematics: Analysis and Design; Jadran Lenar?i?,Philippe Wenger Book 2008 Springer Science+Business Media B.V. 2008 Hub

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CRAB

Constraint Singularities and the Structural Parameters of Parallel Robotstivity, overconstraint and redundancy of parallel robots, recently proposed by the author, are used to characterize the constraint singularities. By using these formulae, we demonstrate that in a constraint singularity the instantaneous values of the mobility, connectivity of the moving platform and

千篇一律

Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel Manipulatorlateral base and moving platform using an algebraic approach. Conditions on the inputs under which the manipulator has different number of solutions to the forward kinematics, including a double solution, two distinct solutions or infinite solutions (self-motion), are identified. The Type 2 singular

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Congregate

Singularity Analysis of Limited-DOF Parallel Manipulators Using Grassmann–Cayley Algebra of six Plücker vector of lines (finite and infinite) constituting the rows of the inverse Jacobian matrix are formulated using Grassmann–Cayley algebra. Manipulators under consideration do not need to have a passive spherical joint somewhere in each leg. This study is illustrated with three example

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MEAN

Minimum Energy Manipulator Designtermine the characteristics of the manipulator in order to justify the best design. In most of the studies that are under way, the possible solutions are restricted to one feasible region in which all of the geometrical and dynamic restrictions as well as the power input on the drives have to be met

MIRTH

Synthesis and Analysis of a Constrained Spherical Parallel Manipulatoree-of-freedom. A dimensional synthesis procedure is used to constrain links of a 3-RRR spherical parallel manipulator using two spherical RR chains to obtain a spherical ten-bar linkage. For our purposes, we begin with a spherical parallel manipulator that has a base and platform that are isosceles