Determination of Singularity-Free Zones in the Workspace of Planar 3-P̱RR Parallel Mechanisms-Reference-Cited by-同舟云学术

Determination of Singularity-Free Zones in the Workspace of Planar 3-P̱RR Parallel Mechanisms

Published:2006-06-05 Issue:6 Volume:129 Page:649-652
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Masouleh Mehdi Tale¹,Gosselin Clément¹

Affiliation:

1. Département de génie mécanique, Université Laval, Québec, QC, Canada, G1K 7P4

Abstract

This paper presents an algorithm for the determination of singularity-free zones in the workspace of the planar 3-P̱RR mechanism. The mathematical derivation of the algorithm is first given. Numerical examples are then included to demonstrate the application of the proposed approach.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/129/6/649/5736673/649_1.pdf

Reference12 articles.

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3. The Singularity Loci of Two Triangular Parallel Manipulators;Collins

4. Force-Unconstrained Poses of the 3-PRR and 4-PRR Parallel Manipulator;Firmani

5. Bonev, I. A. , 2002, “Geometric Analysis of Parallel Mechanisms,” Ph.D. thesis, Laval University, Quebec, Canada.

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