Singularities of mechanisms and the degree of mobility-Reference-Cited by-同舟云学术

Singularities of mechanisms and the degree of mobility

Published:2003-06-01 Issue:2 Volume:217 Page:111-119
ISSN:1464-4193
Container-title:Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics

Author:

Lerbet J¹,Fayet M²

Affiliation:

1. Ecole Nationale des Ponts et Chaussées CERMICS 6 et 8 avenue Blaise Pascal, Cité Descartes, Champs-sur-Marne, 77455 Marne La Vallée Cedex 2, France

2. Laboratoire de Ménique des Solides Ménique Généle 69621 Villeurbanne Cedex, France

Abstract

The Kinematics, statics and dynamics of singular configurations of mechanisms are analysed. Using Lie group theory, the tangent cone at such a configuration is defined and calculated. It is clear that the structure of the cone is directly linked with one of Lie algebra. The statics and dynamics of singularity analysis are addressed, making it possible to apply the concept of the transitory degree of mobility.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Condensed Matter Physics

Link

http://journals.sagepub.com/doi/pdf/10.1243/146441903321898601

Reference14 articles.

1. Degrees of shakiness

2. Lie algebras, modules, dual quaternions and algebraic methods in kinematics

3. Classification of robot-manipulators with only singular configurations

4. Geometry of the motion of robot manipulators

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