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A geometric approach for singularity analysis of 3-DOF planar parallel manipulators using Grassmann–Cayley algebra
| Content Provider | Scilit |
|---|---|
| Author | Wen, Kefei Seo, Taewon Lee, Jeh Won |
| Copyright Year | 2015 |
| Description | SUMMARY Singular configurations of parallel manipulators (PMs) are special poses in which the manipulators cannot maintain their inherent infinite rigidity. These configurations are very important because they prevent the manipulator from being controlled properly, or the manipulator could be damaged. A geometric approach is introduced to identify singular conditions of planar parallel manipulators (PPMs) in this paper. The approach is based on screw theory, Grassmann–Cayley Algebra (GCA), and the static Jacobian matrix. The static Jacobian can be obtained more easily than the kinematic ones in PPMs. The Jacobian is expressed and analyzed by the join and meet operations of GCA. The singular configurations can be divided into three classes. This approach is applied to ten types of common PPMs consisting of three identical legs with one actuated joint and two passive joints. |
| Related Links | https://www.cambridge.org/core/services/aop-cambridge-core/content/view/1CB06C5D13179288AE744E5A801A49B8/S0263574715000661a.pdf/div-class-title-a-geometric-approach-for-singularity-analysis-of-3-dof-planar-parallel-manipulators-using-grassmann-cayley-algebra-div.pdf |
| Ending Page | 520 |
| Page Count | 10 |
| Starting Page | 511 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s0263574715000661 |
| Journal | Robotica |
| Issue Number | 3 |
| Volume Number | 35 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2017-03-01 |
| Access Restriction | Open |
| Subject Keyword | Robotica Planar Parallel Manipulators Grassmann–cayley Algebra Screw Theory Plücker Coordinates |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
