A novel spherical parallel manipulator: forward position problem, singularity analysis, and isotropy design

In this paper, a novel spherical parallel manipulator and its isotropic design is introduced. This manipulator has good accuracy and relatively a larger workspace which is free of singularities. Utilizing spherical configuration the forward position problem is solved by equivalent angle–axis represe...

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Veröffentlicht in:	Robotica 2009-09, Vol.27 (5), p.663-676
Hauptverfasser:	Enferadi, Javad, Tootoonchi, Alireza Akbarzadeh
Format:	Artikel
Sprache:	eng
Schlagworte:	Bezout's elimination method Forward position problem Isotropy design Singularity analysis Spherical parallel manipulator
Online-Zugang:	Volltext
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