An integrated study of the workspace and singularity for a Schönflies parallel manipulator
This paper presents a simple and systematic approach to formulate the inverse position problem of a Schönflies parallel manipulator. As a result, the inverse position problem is solved in closed form and leads directly to the automatic generation of the workspace of the manipulator. Additionally, a...
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Veröffentlicht in: | Journal of applied research and technology 2016-02, Vol.14 (1), p.9-37 |
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Hauptverfasser: | , , |
Format: | Artikel |
Sprache: | eng |
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Online-Zugang: | Volltext |
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Zusammenfassung: | This paper presents a simple and systematic approach to formulate the inverse position problem of a Schönflies parallel manipulator. As a result, the inverse position problem is solved in closed form and leads directly to the automatic generation of the workspace of the manipulator. Additionally, a systematic velocity analysis is also presented, which allows to detect and characterize all the singularities related to this manipulator. |
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ISSN: | 1665-6423 2448-6736 |
DOI: | 10.1016/j.jart.2016.01.004 |