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
Hauptverfasser: Cervantes-Sánchez, J. Jesús, Rico-Martínez, José María, Pérez-Muñoz, Víctor Hugo
Format: Artikel
Sprache:eng
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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.
ISSN:1665-6423
2448-6736
DOI:10.1016/j.jart.2016.01.004