Kinematic analysis and singular configurations of a class of parallel robots

W. Khalil and D. Murareci

Mathematics and Computers in Simulation (MATCOM), 1996, vol. 41, issue 3, 377-390

Abstract: This paper presents the kinematic characteristics of a particular structure of six d.o.f. parallel robot, where the ends of the parallel chains in both moving platform and base have three coincident points and two coincident points. The position of the end effector is decoupled from the orientation such that the Forward Kinematic Model (FKM) can be obtained analytically. The singular configurations and surfaces are given, and the distribution of the solutions of the FKM are analyzed with respect to these surfaces.

Date: 1996
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
http://www.sciencedirect.com/science/article/pii/0378475495000860
Full text for ScienceDirect subscribers only

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:41:y:1996:i:3:p:377-390

DOI: 10.1016/0378-4754(95)00086-0

Access Statistics for this article

Mathematics and Computers in Simulation (MATCOM) is currently edited by Robert Beauwens

More articles in Mathematics and Computers in Simulation (MATCOM) from Elsevier
Bibliographic data for series maintained by Catherine Liu ().