Singularity analysis of planar parallel manipulators based on forward kinematic solutions

DOI10.1016/j.mechmachtheory.2008.11.005zbMath1178.70021OpenAlexW2081123602MaRDI QIDQ1032219

Ron P. Podhorodeski, Flavio Firmani

Publication date: 26 October 2009

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2008.11.005

zbMATH Keywords

kinematicssingularityplanar parallel manipulators

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (2)

Sensitivity comparison of planar parallel manipulators ⋮ Singularity analysis of 3-RPR parallel manipulators using geometric algebra

Cites Work

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• The quartic singularity surfaces of planar platforms in the Clifford algebra of the projective plane.
• The Isotropic Design of Two General Classes of Planar Parallel Manipulators

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