Topological and kinematic singularities for a class of parallel mechanisms (Q1036306)
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scientific article; zbMATH DE number 5632456
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Topological and kinematic singularities for a class of parallel mechanisms |
scientific article; zbMATH DE number 5632456 |
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Topological and kinematic singularities for a class of parallel mechanisms (English)
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13 November 2009
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Summary: We study singularities for a parallel mechanism with a planar moving platform in \(\mathbb R^{d}\) (\(d=2,3\)), with joints which are universal, spherical (spatial case), or rotational (planar case). For such mechanisms, we give a necessary condition for a topological singularity to occur, and describe the corresponding kinematic singularity. An example is provided.
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