Jacobian Analysis of Limited-DOF Parallel Manipulators
2002 ◽
Vol 124
(2)
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pp. 254-258
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Keyword(s):
This paper presents a methodology for the Jacobian analysis of limited degrees-of-freedom (DOF) parallel manipulators. A limited-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees-of-freedom. It is shown that a 6×6 Jacobian matrix, which provides information about both architecture and constraint singularities, can be derived by making use of the theory of reciprocal screws. The 3-UPU and 3-RPS parallel manipulators are used as examples to demonstrate the methodology.
2016 ◽
Vol 836
◽
pp. 42-47
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2011 ◽
Vol 35
(4)
◽
pp. 515-528
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Keyword(s):