Titlebook: Advances in Robot Kinematics: Analysis and Design; Jadran Lenar?i?,Philippe Wenger Book 2008 Springer Science+Business Media B.V. 2008 Hub

脖子

高貴領導

A New Assessment of Singularities of Parallel Kinematic ChainsAn exhaustive hierarchical-level-based classification of singularities of parallel kinematic chains is presented. Singular events are identified, interpreted and related to the direct physical phenomena originating them. An in-depth study of the interaction of different types of singularity is performed.

absolve

出來

fleeting

Differentiation and initial value problemsn its joints, possibly leading to its breakdown. This issue is clearly a very practical problem and we present in this paper an algorithm which computes the . of a planar parallel robot for a given orientation i.e. the set of location of the platform at which the absolute value of all joint forces a

confederacy

Differentiation and initial value problemstivity, overconstraint and redundancy of parallel robots, recently proposed by the author, are used to characterize the constraint singularities. By using these formulae, we demonstrate that in a constraint singularity the instantaneous values of the mobility, connectivity of the moving platform and

尾隨

oracle

監(jiān)禁

Exact Muffin-tin Orbitals Methodlgebra. The proposed tool is interactive and introduces the designer to the singularity analysis performed by this method, showing all the stages along the procedure and eventually showing the solution algebraically and graphically, allowing as well the singularity verification of different robot po

雄辯