Combinatorial Method for Characterizing Singular Configurations in Parallel Mechanisms
Keyword(s):
The paper presents a method for finding the different singular configurations of several types of parallel mechanisms/robots using the combinatorial method. The main topics of the combinatorial method being used are: equimomental line/screw, self-stresses, Dual Kennedy theorem and circle, and various types of 2D and 3D Assur Graphs such as: triad, tetrad and double triad. The paper introduces combinatorial characterization of 3/6 SP and compares it to singularity analysis of 3/6 SP using Grassmann Line Geometry and Grassmann-Cayley Algebra. Finally, the proposed method is applied for characterizing the singular configurations of more complex parallel mechanisms such as 3D tetrad and 3D double-triad.
2013 ◽
Vol 228
(11)
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pp. 2018-2035
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2012 ◽
Vol 48
(17)
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pp. 29
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Keyword(s):
2001 ◽
Vol 20
(4)
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pp. 312-328
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2014 ◽
Vol 229
(1)
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pp. 136-154
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2003 ◽
Vol 125
(3)
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pp. 573-581
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