Direct kinematics singularity analysis of a 3-CRU translational parallel manipulator
碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 97 === In this thesis we perform direct singularity analysis for the 3-CRU parallel manipulator, which is a three degree-of-freedom manipulator for pure translation. In order to locate direct singular positions, we begin by expressing the determinant of the Jacobian...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2009
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| Online Access: | http://ndltd.ncl.edu.tw/handle/18730872748726085114 |