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- W2243269922 abstract "This paper investigates the singular configurations of five-degree-of-freedom parallel mechanisms generating the 3T2R motion and comprising five identical legs of the RPUR type. The general mechanism was recently revealed by performing the type synthesis for symmetrical 5-DOF parallel mechanisms. In this study, some simplified designs are proposed for which the singular configurations can be predicted by means of the so-called Grassmann line geometry. This technique can be regarded as a powerful tool for analyzing the degeneration of the Plu¨cker screw set. The main focus of this contribution is to predict the actuation singularity, for a general and simplified design, without expanding the determinant of the inverse Jacobian matrix (actuated constraints system) which is highly nonlinear and difficult to analyze." @default.
- W2243269922 created "2016-06-24" @default.
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- W2243269922 date "2009-01-01" @default.
- W2243269922 modified "2023-09-27" @default.
- W2243269922 title "Singularity Analysis of 5-RPRRR Parallel Mechanisms via Grassmann Line Geometry" @default.
- W2243269922 doi "https://doi.org/10.1115/detc2009-86261" @default.
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