Cart (Loading....) | Create Account
Close category search window
 

Singularity Analysis of Lower Mobility Parallel Manipulators Using Grassmann–Cayley Algebra

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Kanaan, D. ; Inst. de Rech. en Commun. et Cybernetique de Nantes, Centre Nat. de la Rech. Sci., Nantes, France ; Wenger, P. ; Caro, S. ; Chablat, D.

This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform. Lower mobility parallel manipulators and parallel manipulators, of which some legs have no spherical joint, are such manipulators. The geometric conditions associated with the dependency of six PlUumlcker vectors of finite lines or lines at infinity constituting the rows of the inverse Jacobian matrix are formulated using Grassmann-Cayley algebra (GCA). Accordingly, the singularity conditions are obtained in vector form. This study is illustrated with the singularity analysis of four manipulators.

Published in:

Robotics, IEEE Transactions on  (Volume:25 ,  Issue: 5 )

Date of Publication:

Oct. 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.