A new approach for singularity analysis and closeness measurement to singularities of parallel manipulators
XJ Liu, C Wu, J Wang - 2012 - asmedigitalcollection.asme.org
Singularity analysis is one of the most important issues in the field of parallel manipulators.
An approach for singularity analysis should be able to not only identify all possible …
An approach for singularity analysis should be able to not only identify all possible …
[图书][B] Dynamics of parallel robots: From rigid bodies to flexible elements
S Briot, W Khalil - 2015 - books.google.com
This book starts with a short recapitulation on basic concepts, common to any types of robots
(serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic …
(serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic …
Kinematic performance evaluation of high-speed Delta parallel robots based on motion/force transmission indices
Motion and force transmission indices are a common measure for the kinematic
performance analysis and optimization of parallel manipulators. However, a separate …
performance analysis and optimization of parallel manipulators. However, a separate …
Generalized Jacobian analysis of lower mobility manipulators
Exploring screw theory through the formalities of linear algebra, this paper presents a
general approach for Jacobian analysis of lower mobility manipulators. Given the definitions …
general approach for Jacobian analysis of lower mobility manipulators. Given the definitions …
Singularity conditions for continuum parallel robots
S Briot, A Goldsztejn - IEEE Transactions on Robotics, 2021 - ieeexplore.ieee.org
Research on continuum parallel robots has been essentially devoted to the computation of
their geometricostatic models and of their performance in terms of workspace size, accuracy …
their geometricostatic models and of their performance in terms of workspace size, accuracy …
Type synthesis of 4-DOF parallel kinematic mechanisms based on Grassmann line geometry and atlas method
F Xie, T Li, X Liu - Chinese Journal of Mechanical Engineering, 2013 - Springer
Many methods are proposed to deal with the type synthesis of parallel kinematic
mechanisms (PKMs), but most of them are less intuitive to some extent. Thus, to propose a …
mechanisms (PKMs), but most of them are less intuitive to some extent. Thus, to propose a …
Singularity conditions of 3T1R parallel manipulators with identical limb structures
This paper deals with the singularity analysis of parallel manipulators with identical limb
structures performing Schönflies motions, namely, three independent translations and one …
structures performing Schönflies motions, namely, three independent translations and one …
Singularity analysis of 3T2R parallel mechanisms using Grassmann–Cayley algebra and Grassmann geometry
This paper deals with the singular configurations of symmetric 5-DOF parallel mechanisms
performing three translational and two independent rotational DOFs. The screw theory …
performing three translational and two independent rotational DOFs. The screw theory …
Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics, and singularity
F Xie, XJ Liu - Frontiers of Mechanical Engineering, 2016 - Springer
This study introduces a high-speed parallel robot with Schönflies motion. This robot exhibits
a promising prospect in realizing high-speed pick-andplace manipulation for packaging …
a promising prospect in realizing high-speed pick-andplace manipulation for packaging …
Design and dimensional synthesis of a Linear Delta robot with single legs for additive manufacturing
Parallel manipulator robots are widely used in a large number of applications because they
provide important advantages in terms of superior speeds and accelerations, high stiffness …
provide important advantages in terms of superior speeds and accelerations, high stiffness …