Self-motions of Griffis-Duffy type parallel manipulators

Self-motions of Griffis-Duffy type parallel manipulators

A special type of parallel platform manipulator, proposed by Griffis and Duffy (1993), is investigated. It is shown that a large class among the proposed platform types is architecture singular and admits self motions from every point of its workspace. Using a kinematic image space we compute image...

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Veröffentlicht in:Proceedings - IEEE International Conference on Robotics and Automation 2000, Vol.1, p.7-12 vol.1
Hauptverfasser: Husty, M.L., Karger, A.
Format: Artikel
Sprache:eng
Schlagworte:
Economic indicators
Equations
Geometry
Kinematics
Leg
Quaternions
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Zusammenfassung:A special type of parallel platform manipulator, proposed by Griffis and Duffy (1993), is investigated. It is shown that a large class among the proposed platform types is architecture singular and admits self motions from every point of its workspace. Using a kinematic image space we compute image curves which correspond to the self motions and discuss several special cases.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2000.844032