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 …

[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 …

Kinematic performance evaluation of high-speed Delta parallel robots based on motion/force transmission indices

J Brinker, B Corves, Y Takeda - Mechanism and Machine Theory, 2018 - Elsevier
Motion and force transmission indices are a common measure for the kinematic
performance analysis and optimization of parallel manipulators. However, a separate …

Generalized Jacobian analysis of lower mobility manipulators

T Huang, HT Liu, DG Chetwynd - Mechanism and Machine Theory, 2011 - Elsevier
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 …

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 …

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 …

Singularity conditions of 3T1R parallel manipulators with identical limb structures

S Amine, M Tale Masouleh, S Caro, P Wenger… - 2012 - asmedigitalcollection.asme.org
This paper deals with the singularity analysis of parallel manipulators with identical limb
structures performing Schönflies motions, namely, three independent translations and one …

Singularity analysis of 3T2R parallel mechanisms using Grassmann–Cayley algebra and Grassmann geometry

S Amine, MT Masouleh, S Caro, P Wenger… - … and Machine Theory, 2012 - Elsevier
This paper deals with the singular configurations of symmetric 5-DOF parallel mechanisms
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 …

Design and dimensional synthesis of a Linear Delta robot with single legs for additive manufacturing

E Rodriguez, C Riaño, A Alvares, R Bonnard - Journal of the Brazilian …, 2019 - Springer
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 …