DocumentCode
1864557
Title
Constraint singularities of parallel mechanisms
Author
Zlatanov, Diniiter ; Bonev, Ilian A. ; Gosselin, Clénient M.
Author_Institution
Lab. de Robotique, Laval Univ., Que., Canada
Volume
1
fYear
2002
fDate
2002
Firstpage
496
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013408
Filename
1013408
Link To Document