Title :
Constraint singularities of parallel mechanisms
Author :
Zlatanov, Diniiter ; Bonev, Ilian A. ; Gosselin, Clénient M.
Author_Institution :
Lab. de Robotique, Laval Univ., Que., Canada
Abstract :
The concept of constraint singularity is introduced. This is a phenomenon occurring in parallel mechanisms with reduced freedoms when the screw system, formed by the constraint wrenches in all legs, loses rank.
Keywords :
manipulators; poles and zeros; constraint singularity; constraint wrenches; parallel mechanisms; screw system; Actuators; Cause effect analysis; Costs; Equations; Fasteners; Kinematics; Leg; Legged locomotion; Manipulators; Parallel robots;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013408
