Academic Journal
Singularity Loci of a Special Class of Spherical Three-degree-of-freedom Parallel Mechanisms with Revolute Actuators.
| Τίτλος: | Singularity Loci of a Special Class of Spherical Three-degree-of-freedom Parallel Mechanisms with Revolute Actuators. |
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| Συγγραφείς: | Gosselin, Clement M, Wang, Jing |
| Πηγή: | International Journal of Robotics Research; Jul2002, Vol. 21 Issue 7, p649, 11p |
| Θεματικοί όροι: | Degrees of freedom, Actuators |
| Περίληψη: | In this paper, we study the singularity loci of a special class of spherical three-degree-of-freedom parallel manipulators. The concise analytical expressions describing the singularity loci are obtained in the joint and in the Cartesian spaces by using the direct and inverse kinematic solutions of these manipulators, respectively. As mentioned elsewhere, there are three different types of singularities for parallel manipulators, each having a different physical interpretation. These types are considered and it is shown that, for the manipulators considered here, the three types of singularities coincide. Moreover, for the two types of manipulators studied here, there are only four singular configurations in the Cartesian space. In addition, the threedimensional graphical representations of the singularity loci in the joint and in the Cartesian spaces are illustrated. The description of the singular configurations provided here has great significance for robot trajectory planning and control. [ABSTRACT FROM AUTHOR] |
| Copyright of International Journal of Robotics Research is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Βάση Δεδομένων: | Complementary Index |
| FullText | Links: – Type: other Text: Availability: 0 |
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| Header | DbId: edb DbLabel: Complementary Index An: 8680139 RelevancyScore: 831 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 831.492126464844 |
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| Items | – Name: Title Label: Title Group: Ti Data: Singularity Loci of a Special Class of Spherical Three-degree-of-freedom Parallel Mechanisms with Revolute Actuators. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Gosselin%2C+Clement+M%22">Gosselin, Clement M</searchLink><br /><searchLink fieldCode="AR" term="%22Wang%2C+Jing%22">Wang, Jing</searchLink> – Name: TitleSource Label: Source Group: Src Data: International Journal of Robotics Research; Jul2002, Vol. 21 Issue 7, p649, 11p – Name: Subject Label: Subject Terms Group: Su Data: <searchLink fieldCode="DE" term="%22Degrees+of+freedom%22">Degrees of freedom</searchLink><br /><searchLink fieldCode="DE" term="%22Actuators%22">Actuators</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: In this paper, we study the singularity loci of a special class of spherical three-degree-of-freedom parallel manipulators. The concise analytical expressions describing the singularity loci are obtained in the joint and in the Cartesian spaces by using the direct and inverse kinematic solutions of these manipulators, respectively. As mentioned elsewhere, there are three different types of singularities for parallel manipulators, each having a different physical interpretation. These types are considered and it is shown that, for the manipulators considered here, the three types of singularities coincide. Moreover, for the two types of manipulators studied here, there are only four singular configurations in the Cartesian space. In addition, the threedimensional graphical representations of the singularity loci in the joint and in the Cartesian spaces are illustrated. The description of the singular configurations provided here has great significance for robot trajectory planning and control. [ABSTRACT FROM AUTHOR] – Name: Abstract Label: Group: Ab Data: <i>Copyright of International Journal of Robotics Research is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1177/027836402322023231 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 11 StartPage: 649 Subjects: – SubjectFull: Degrees of freedom Type: general – SubjectFull: Actuators Type: general Titles: – TitleFull: Singularity Loci of a Special Class of Spherical Three-degree-of-freedom Parallel Mechanisms with Revolute Actuators. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Gosselin, Clement M – PersonEntity: Name: NameFull: Wang, Jing IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 07 Text: Jul2002 Type: published Y: 2002 Identifiers: – Type: issn-print Value: 02783649 Numbering: – Type: volume Value: 21 – Type: issue Value: 7 Titles: – TitleFull: International Journal of Robotics Research Type: main |
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