Screw theory based singularity analysis of lower-mobility parallel robots considering the motion/force transmissibility and constrainability

DOI10.1155/2015/487956zbMath1394.70006OpenAlexW2050147446WikidataQ59118718 ScholiaQ59118718MaRDI QIDQ1665803

Xiang Chen, Xin-Jun Liu, FuGui Xie

Publication date: 27 August 2018

Published in: Mathematical Problems in Engineering (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1155/2015/487956

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (2)

Singularity analysis of 3-RPR parallel manipulators using geometric algebra ⋮ Unified infinitesimal kinematics of a 3-RRR/PRR six-degree-of-freedom parallel-serial manipulator

Cites Work

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• Generalized Jacobian analysis of lower mobility manipulators
• Modified PSO method for robust control of 3RPS parallel manipulators
• Performance evaluation of parallel manipulators: motion/force transmissibility and its index
• Topological and kinematic singularities for a class of parallel mechanisms
• Identification and classification of the singular configurations of mechanisms.
• Enumeration of a class of overconstrained mechanisms using the theory of reciprocal screws
• Families of 6R orthogonal robotic manipulators with only isolated and pseudo-isolated singular\-i\-ties
• Conditions for line-based singularities in spatial platform manipulators

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