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...

This paper addresses the problem of identifying the property of the singularity loci of a class of 3/6‐ Gough‐Stewart manipulators for general orientations in which the moving platform is an equilateral triangle and the base is a semiregular hexagon. After constructing the Jacobian matrix of this class of 3/6‐Gough‐Stewart manipulators according to the screw theory, a...

Hallin and Ley (2012) investigate and fully characterize the Fisher singularity phenomenon in univariate and multivariate families of skew-symmetric distributions. This paper proposes a refined analysis of the (univariate) Fisher degeneracy problem, showing that it can be more or less severe, inducing n (“simple singularity”), n (“double singularity”), or n (“triple singularity”) consistency ra...

There are many phenomena in nature, such as earthquakes, landslides, floods, and large-scale mineralization that are characterized by singular functions exhibiting scale invariant properties. A local singularity analysis based on multifractal modeling was developed for detection of local anomalies for mineral exploration. An iterative approach is proposed in the current paper for improvement of...

singularity based on fractal and multifractal is a technique for detection of depletion and enrichment for geochemical exploration, while the index of vertical geochemical zonality (vz) of pb.zn/cu.ag is a practical method for exploration of blind porphyry copper mineralization. in this study, these methods are combined for recognition, delineation, and enrichment of vz in jebal- barez in the s...

This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...