Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual vectors and matrices
type: Item
instance of: scholarly article
title: Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual vectors and matrices
zbMATH Open document ID: 1066.70003
author: Sandipan Bandyopadhyay
author: Ashitava Ghosal
published in: Mechanism and Machine Theory
publication date: 2004-11-26T00:00:00Z
review text: This paper presents an application of dual numbers, vectors and matrix theory to the analysis of parallel and hybrid mnipulators. The general mathematical models are constructed for extremal values of the dual norm of twists, which leads to an eigenproblem. Based on this eigenproblem, the singularities of principal twists are discussed in terms of loss and gain kinds of singularities. Two examples illustrate the procedure.
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 15A90
zbMATH DE Number: 2119165
zbMATH Keywords: singularities
zbMATH Keywords: eigenproblem
reviewed by: Sergiu T. Chiriacescu
MaRDI profile type: Publication
full work available at URL: j.mechmachtheory.2004.05.017
OpenAlex ID: W1993922120
DOI: 10.1016/J.MECHMACHTHEORY.2004.05.017
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description: scientific article; zbMATH DE number 2119165