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- W2890421216 abstract "Abstract This paper studies the configuration-space and the actuator-space variants of the Lagrangian formulation of dynamics of parallel manipulators. In particular, the effects of the gain-type singularity and the configuration-space singularity on the forward and inverse dynamic analyses using these formulations are studied in detail. A condition for kinematic consistency at a gain-type singularity is established. The formulations are implemented on a planar five-bar manipulator and a bi-planar Stewart platform manipulator. Extensive numerical simulations augment the analytical developments in the understanding of the dynamic behaviour of the manipulators, in both the singular and the non-singular cases." @default.
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- W2890421216 date "2018-12-01" @default.
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- W2890421216 title "A comparative study of the configuration-space and actuator-space formulations of the Lagrangian dynamics of parallel manipulators and the effects of kinematic singularities on these" @default.
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- W2890421216 doi "https://doi.org/10.1016/j.mechmachtheory.2018.07.009" @default.
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