A novel method for singularity analysis of the 6-SPS parallel mechanisms

DOI10.1007/s11431-011-4323-2zbMath1237.70015OpenAlexW2042341192MaRDI QIDQ412927

JianYing Zhu, ShiLi Cheng, HongTao Wu, Yu Yao, ChaoQun Wang

Publication date: 4 May 2012

Published in: Science China. Technological Sciences (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11431-011-4323-2

zbMATH Keywords

Jacobian matrixsingularity analysisquaternionparallel mechanism

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cites Work

• Unnamed Item
• Determination of the maximal singularity-free zones in the six-dimensional workspace of the general Gough--Stewart platform
• Determination of the maximal singularity-free orientation workspace for the Gough-Stewart platform
• Identification and classification of the singular configurations of mechanisms.
• Analysis of configuration space singularities of closed-loop mechanisms and parallel manipulators
• The Singularity Principle and Property of Stewart Parallel Manipulator

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