Topological and Kinematic Singularities for a Class of Parallel Mechanisms
We study singularities for a parallel mechanism with a planar moving platform in ℝ𝑑(𝑑=2,3), with joints which are universal, spherical (spatial case), or rotational (planar case). For such mechanisms, we give a necessary condition for a topological singularity to occur, and describe the correspondin...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2009-01-01
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| Series: | Mathematical Problems in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2009/249349 |
| Summary: | We study singularities for a parallel mechanism with a planar moving
platform in ℝ𝑑(𝑑=2,3), with joints which are universal, spherical (spatial case),
or rotational (planar case). For such mechanisms, we give a necessary condition
for a topological singularity to occur, and describe the corresponding kinematic
singularity. An example is provided. |
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| ISSN: | 1024-123X 1563-5147 |