The Force Singularity for Partially Immersed Parallel Plates
نویسندگان
چکیده
منابع مشابه
determination of maximal singularity free zones in the workspace of parallel manipulator
due to the limiting workspace of parallel manipulator and regarding to finding the trajectory planning of singularity free at workspace is difficult, so finding a best solution that can develop a technique to determine the singularity-free zones in the workspace of parallel manipulators is highly important. in this thesis a simple and new technique are presented to determine the maximal singula...
15 صفحه اولCOORDINATE INFLUENCE ON SINGULARITY OF A 3-UPS PARALLEL MANIPULATOR
This paper shows the coordinates influence on singularity of a three degree-of-freedom structure, namely, three-Universal-Prismatic-Spherical (3-UPS) parallel manipulator. Rotational coordinates, which are chosen to define the orientation of the platform, affect the singularity of the manipulator. Euler parameters, which don't have any inherent geometrical singularity are utilized, however they...
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Singularity is an inherent characteristic of a closed-chain manipulator. This paper presents an approach to singularity analysis of the planar 3-RRR parallel manipulator. On the basis of screw theory, the motion/force transmission analysis of the manipulator is first achieved. The singularity is classified into three types: constraint singularity, input transmission singularity, and output tran...
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ژورنال
عنوان ژورنال: Journal of Mathematical Fluid Mechanics
سال: 2016
ISSN: 1422-6928,1422-6952
DOI: 10.1007/s00021-016-0260-y