کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
414711 681012 2006 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Mobility properties of a Schoenflies-type parallel manipulator
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Mobility properties of a Schoenflies-type parallel manipulator
چکیده انگلیسی

This paper addresses the mobility properties of a novel Schoenflies-type parallel manipulator. By analyzing the degree of freedom (DoF) of the manipulator, we select a set of independent variables to describe the pose relationship of the manipulator and the fixed base, which is the least in number compared with others. Through coordinate transformation, we can obtain the geometric relationship in the absolute coordinate system via a set of parametric equations. As a result, the least order's Jacobian matrix will be gained and the singularity of the manipulator can be expressed as the determinate of the Jacobian matrix is zero. The distinctive merit of this methodology is that the order of Jacobian matrix is the least compared with others.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 22, Issue 2, April 2006, Pages 124–133
نویسندگان
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