Paper Info
Title
A remarkable set of Schönflies-singular planar Stewart Gough platforms
Abstract
We present a set of planar parallel manipulators of Stewart Gough type which are singular with respect to the Schonflies group X(a) without being architecturally singular. This set of so-called Schonflies-singular planar parallel manipulators is characterized by the property that the carrier plane of the platform or of the base anchor points is orthogonal to the rotational axis a of the Schonflies group X(a). By giving the necessary and sufficient conditions we provide a complete classification of this set. Beside this algebraic characterization we also present a geometric one. Moreover we discuss the self-motional behavior of these manipulators and prove that they possess a quadratic singularity surface.
Year
DOI
Venue
2010
10.1016/j.cagd.2010.06.005
Computer Aided Geometric Design
Keywords
Field
DocType
complete classification,planar parallel manipulator,schönflies-singular manipulators,schönflies motion group,base anchor point,carrier plane,schonflies group x,schonflies-singular planar parallel manipulator,stewart gough platform,stewart gough type,quadratic singularity surface,remarkable set,self-motions,algebraic characterization,self-motional behavior,parallel manipulator
Topology,Algebraic number,Planar parallel manipulator,Manipulator,Computer Aided Design,Quadratic equation,Singularity,Planar,Mathematics
Journal
Volume
Issue
ISSN
27
7
Computer Aided Geometric Design
Citations 
PageRank 
References 
0
0.34
3
Authors
1
Name
Order
Citations
PageRank
Georg Nawratil1225.94