Comments on “Architectural singularities of a class of pentapods”
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چکیده
In the respective publication [1] architecturally singular designs (Ma and Angeles [10] 1 ) of pentapods (5-degree-of-freedom fully-parallel manipulator with an axial spindle as moving platform) with coplanar base attachments are investigated. The authors correctly identified (cf. Section 1 of [1]) pentapods, which are special 5-SPU platforms, as rigid subassemblies in Stewart Gough (SG) platforms (cf. Kong and Gosselin [3]). Therefore, architecturally singular pentapods can only be degenerated SG manipulators (cf. Karger [19]).
منابع مشابه
Architectural singularities of a class of pentapods
A pentapod is usually defined as a 5-degrees-of-freedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators has revealed as an interesting alternative to serial robots handling axisymmetric tools. Their particular geometry permits that, in one tool axis, high inclination angles could be attained, thus overcoming the orientation limits of the classical ...
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تاریخ انتشار 2012