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- W1576010369 abstract "In recent years, numerous researchers have investigated parallel manipulators and many studies have been done on the kinematics or dynamics analysis. Parallel manipulators has been only mentioned in several books, as in (Merlet, 2006; Ceccarelli, 2004; Kong, & Gosselin, 2007; Glazunov, et al., 1991). Reference (Gosselin, & Angeles, 1990) has established singularity criteria based on Jacobian matrices when describing the various types of singularity. Then, in (Glazunov, et al. 1990) proposed other singularity criteria for consideration of these problems the screw theory based on the approach of the screw calculus, as in (Dimentberg, 1965). Those criteria are determined by the constraints imposed by the kinematic chains, as in (Angeles, 2004; Kraynev, & Glazunov, 1991), taking into account some problems the Plucker coordinates of constraint wrenches can be applied in (Glazunov, 2006; Glazunov, et al. 1999, 2007, 2009; Thanh, et al. 2009, 2010a). Dynamical decoupling allows increasing the accuracy for the parallel manipulators presented as in (Glazunov, & Kraynev, 2006; Glazunov, & Thanh, 2008). It is necessary to develop optimal structure have combined (Thanh, et al. 2008), as well as algorithms and multi-criteria optimization (Statnikov, 1999; Thanh, et al. 2010b) obtaining the Pareto set. It is very important to taking into account possible singularity configurations, to find out how they influence the characteristics of constraints restricting working space (Bonev, et al. 2003; Huang, 2004; Arakelian, et al. 2007). The trend towards highly rapid manipulators due to the demand for greater working volume, dexterity, and stiffness has motivated research and development of new types of parallel manipulator (Merlet, 1991). This paper is focused the constraints and criteria existing in known parallel manipulators in form of a parallel manipulator with linear actuators located on the base." @default.
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- W1576010369 date "2012-03-30" @default.
- W1576010369 modified "2023-10-18" @default.
- W1576010369 title "Singularity Analysis, Constraint Wrenches and Optimal Design of Parallel Manipulators" @default.
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- W1576010369 doi "https://doi.org/10.5772/31821" @default.
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