Conditions for line-based singularities in spatial platform manipulators

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199812)15:1<43::AID-ROB4>3.0.CO;2-S" /><43::AID-ROB4>3.0.CO;2-S 10.1002/(SICI)1097-4563(199812)15:1<43::AID-ROB4>3.0.CO;2-SzbMath0902.70005OpenAlexW1991476582MaRDI QIDQ4393207

J. Michael McCarthy, Fangli Hao

Publication date: 16 December 1998

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199812)15:1<43::aid-rob4>3.0.co;2-s

zbMATH Keywords

Stewart platformgeometric classification of singularitiesserial supporting robotic chains

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (6)

The kinematics for redundantly actuated omnidirectional mobile robots ⋮ Screw theory based singularity analysis of lower-mobility parallel robots considering the motion/force transmissibility and constrainability ⋮ Second-order mobility analysis of mechanisms using closure equations ⋮ A short note on point singularities for robot manipulators ⋮ Spherically actuated platform manipulator ⋮ Second order analysis of the mobility of kinematic loops via acceleration compatibility analysis

This page was built for publication: Conditions for line-based singularities in spatial platform manipulators