An integrated study of the workspace and singularity for a Schönfliesparallel manipulator
This paper presents a simple and systematic approach to formulate the inverse position problem of a Schönflies parallel manipulator. As aresult, the inverse position problem is solved in closed form and leads directly to the automatic generation of the workspace of the manipulator.Additionally, a sy...
| Autores: | , , |
|---|---|
| Tipo de documento: | artigo |
| Estado: | Versão publicada |
| Data de publicação: | 2016 |
| País: | México |
| Recursos: | UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICO |
| Repositório: | Journal of Applied Research and Technology |
| Idioma: | inglês |
| OAI Identifier: | oai:ojs2.localhost:article/54 |
| Acesso em linha: | https://jart.icat.unam.mx/index.php/jart/article/view/54 |
| Access Level: | Acceso aberto |
| Palavra-chave: | Workspace Singularity Schönflies parallel manipulator |
| Resumo: | This paper presents a simple and systematic approach to formulate the inverse position problem of a Schönflies parallel manipulator. As aresult, the inverse position problem is solved in closed form and leads directly to the automatic generation of the workspace of the manipulator.Additionally, a systematic velocity analysis is also presented, which allows to detect and characterize all the singularities related to this manipulator. |
|---|