Singular cases of planar and spatial parallel manipulator
Abstract eng: Singularities are places in the workspace of the robot where kinematic equations have no solution. It is of course desired to minimize number of such places in the workspace. The analysis of these places is then important from the construction point of view where singularities might be suppressed by suitable changes in design of construction. The paper deals with description of singular cases types of a parallel manipulator and their analysis via analysis of the determinants of the system Jacobians. This is demonstrated for two examples – planar and spatial parallel manipulator.
Contributors:
Publisher:
Institute of Theoretical and Applied Mechanics, AS CR, Prague
Conference Title:
Conference Title:
Engineering Mechanics 2012
Conference Venue:
Svratka (CZ)
Conference Dates:
12/05/2014 - 15/05/2014
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2014-12-04, last modified 2014-12-04
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