Topological and Kinematic Singularities for a Class of Parallel Mechanisms-Reference-Cited by-同舟云学术

Topological and Kinematic Singularities for a Class of Parallel Mechanisms

Published:2009 Issue: Volume:2009 Page:1-12
ISSN:1024-123X
Container-title:Mathematical Problems in Engineering
language:en
Short-container-title:Mathematical Problems in Engineering

Author:

Shvalb Nir¹,Shoham Moshe²,Bamberger Hagay²,Blanc David³

Affiliation:

1. Department of Mechanical Engineering, Ariel University Center, Ariel 47000, Israel

2. Department of Mechanical Engineering, Technion, Haifa 32000, Israel

3. Department of Mathematics, University of Haifa, Haifa 31905, Israel

Abstract

We study singularities for a parallel mechanism with a planar moving platform in , with joints which are universal, spherical (spatial case), or rotational (planar case). For such mechanisms, we give a necessary condition for a topological singularity to occur, and describe the corresponding kinematic singularity. An example is provided.

Publisher

Hindawi Limited

Subject

General Engineering,General Mathematics

Link

http://downloads.hindawi.com/journals/mpe/2009/249349.pdf

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