Obtaining configuration space and singularity maps for parallel manipulators

DOI10.1016/J.MECHMACHTHEORY.2009.06.003zbMath1247.70015OpenAlexW2107737814MaRDI QIDQ1048905

E. Macho, Alfonso Hernández, Oscar Altuzarra, Enrique Amezua

Publication date: 8 January 2010

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

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2009.06.003

zbMATH Keywords

workspacesingularity analysisparallel manipulatorposition problemworking modes

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cites Work

• Determination of the maximal singularity-free zones in the six-dimensional workspace of the general Gough--Stewart platform
• A geometrical method for computing the constant-orientation workspace of 6-PRRS parallel manipulators
• Path generation with singularity avoidance for five-bar slider-crank parallel manipulators
• Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms

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