Titlebook: Advances in Robot Kinematics: Analysis and Design; Jadran Lenarčič,Philippe Wenger Book 2008 Springer Science+Business Media B.V. 2008 Hub

Galactogogue

模仿

商店街

Singularity Analysis through Static Analysisn its joints, possibly leading to its breakdown. This issue is clearly a very practical problem and we present in this paper an algorithm which computes the . of a planar parallel robot for a given orientation i.e. the set of location of the platform at which the absolute value of all joint forces are smaller or equal to a given threshold

cogitate

exercise

思考而得

Singularity Analysis of Limited-DOF Parallel Manipulators Using Grassmann–Cayley Algebra of six Plücker vector of lines (finite and infinite) constituting the rows of the inverse Jacobian matrix are formulated using Grassmann–Cayley algebra. Manipulators under consideration do not need to have a passive spherical joint somewhere in each leg. This study is illustrated with three example robots.

ADORE

4-DOF Parallel Architecture for Laparoscopic Surgeryd for the surgical robots is presented and discussed. Analytical models of the inverse and forward kinematics are provided together with a detailed analysis of mobility and constraints. The velocity kinematics is addressed and singularity analysis outlined.

Hectic

Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulatorsach is assumed as a guideline. The main contribution of the paper consists in establishing completeness of this algorithm, and in stating its convergence condition in terms of the mobile manipulator’s dexterity matrix. Computer simulations illustrate the performance and the convergence of the algorithm.

改正

https://doi.org/10.1007/978-3-319-99930-2An exhaustive hierarchical-level-based classification of singularities of parallel kinematic chains is presented. Singular events are identified, interpreted and related to the direct physical phenomena originating them. An in-depth study of the interaction of different types of singularity is performed.

Heretical