Matches in SemOpenAlex for { <https://semopenalex.org/work/W4224084493> ?p ?o ?g. }
- W4224084493 endingPage "276" @default.
- W4224084493 startingPage "276" @default.
- W4224084493 abstract "This article presents the velocity and singularity analysis for a five-degree-of-freedom (5-DOF) parallel-serial manipulator. The hybrid structure of the manipulator combines a tripod-like parallel part and a serial part, represented as two carriages moving in perpendicular directions. This manipulator provides its end-effector with a 3T2R motion pattern, which includes three independent translations and two independent rotations. First, the study briefly discusses the manipulator design and the results of the position analysis. These results form the basis for the subsequent velocity and singularity analysis, performed by screw theory. The screw coordinates of the unit twists are written for each manipulator joint, and then through the reciprocal screw approach, the actuation and constraint wrenches of the manipulator are obtained by simple inspection. Based on these twists and wrenches, the paper forms the velocity equation and shows an example of the inverse velocity analysis for a given end-effector trajectory. The same example is solved by numerical differentiation to verify the proposed approach. Next, the paper investigates singular configurations by analyzing the wrench system of the manipulator and presents several conditions for serial and parallel singularities. Each condition has both a symbolic representation, given by an equation for screw coordinates of certain wrenches, and a visual representation, which shows the manipulator in a singular configuration." @default.
- W4224084493 created "2022-04-19" @default.
- W4224084493 creator A5053655787 @default.
- W4224084493 creator A5067264210 @default.
- W4224084493 creator A5068893893 @default.
- W4224084493 creator A5082303369 @default.
- W4224084493 date "2022-04-13" @default.
- W4224084493 modified "2023-10-14" @default.
- W4224084493 title "Velocity and Singularity Analysis of a 5-DOF (3T2R) Parallel-Serial (Hybrid) Manipulator" @default.
- W4224084493 cites W167046281 @default.
- W4224084493 cites W1966590792 @default.
- W4224084493 cites W1968710412 @default.
- W4224084493 cites W1973276604 @default.
- W4224084493 cites W1978702006 @default.
- W4224084493 cites W1988084954 @default.
- W4224084493 cites W2001792145 @default.
- W4224084493 cites W2036659221 @default.
- W4224084493 cites W2041126047 @default.
- W4224084493 cites W2060497234 @default.
- W4224084493 cites W2072239766 @default.
- W4224084493 cites W2125149440 @default.
- W4224084493 cites W2133037307 @default.
- W4224084493 cites W2146475250 @default.
- W4224084493 cites W2151548787 @default.
- W4224084493 cites W2160221287 @default.
- W4224084493 cites W2226512 @default.
- W4224084493 cites W2489806784 @default.
- W4224084493 cites W2515129192 @default.
- W4224084493 cites W2516329239 @default.
- W4224084493 cites W2582387390 @default.
- W4224084493 cites W2591779012 @default.
- W4224084493 cites W2666678243 @default.
- W4224084493 cites W2751398071 @default.
- W4224084493 cites W2761387828 @default.
- W4224084493 cites W2809829282 @default.
- W4224084493 cites W2889614829 @default.
- W4224084493 cites W2891691752 @default.
- W4224084493 cites W2894083409 @default.
- W4224084493 cites W2904400443 @default.
- W4224084493 cites W2926011822 @default.
- W4224084493 cites W2968538228 @default.
- W4224084493 cites W3006129348 @default.
- W4224084493 cites W3020419353 @default.
- W4224084493 cites W3138475788 @default.
- W4224084493 cites W40111655 @default.
- W4224084493 cites W4232067776 @default.
- W4224084493 doi "https://doi.org/10.3390/machines10040276" @default.
- W4224084493 hasPublicationYear "2022" @default.
- W4224084493 type Work @default.
- W4224084493 citedByCount "7" @default.
- W4224084493 countsByYear W42240844932022 @default.
- W4224084493 countsByYear W42240844932023 @default.
- W4224084493 crossrefType "journal-article" @default.
- W4224084493 hasAuthorship W4224084493A5053655787 @default.
- W4224084493 hasAuthorship W4224084493A5067264210 @default.
- W4224084493 hasAuthorship W4224084493A5068893893 @default.
- W4224084493 hasAuthorship W4224084493A5082303369 @default.
- W4224084493 hasBestOaLocation W42240844931 @default.
- W4224084493 hasConcept C10138342 @default.
- W4224084493 hasConcept C120910303 @default.
- W4224084493 hasConcept C121332964 @default.
- W4224084493 hasConcept C127413603 @default.
- W4224084493 hasConcept C12843 @default.
- W4224084493 hasConcept C134306372 @default.
- W4224084493 hasConcept C138094506 @default.
- W4224084493 hasConcept C154945302 @default.
- W4224084493 hasConcept C15744967 @default.
- W4224084493 hasConcept C16171025 @default.
- W4224084493 hasConcept C162324750 @default.
- W4224084493 hasConcept C169903001 @default.
- W4224084493 hasConcept C18788176 @default.
- W4224084493 hasConcept C198082294 @default.
- W4224084493 hasConcept C2775924081 @default.
- W4224084493 hasConcept C29302406 @default.
- W4224084493 hasConcept C33923547 @default.
- W4224084493 hasConcept C39920418 @default.
- W4224084493 hasConcept C41008148 @default.
- W4224084493 hasConcept C47446073 @default.
- W4224084493 hasConcept C74650414 @default.
- W4224084493 hasConcept C77805123 @default.
- W4224084493 hasConcept C78519656 @default.
- W4224084493 hasConceptScore W4224084493C10138342 @default.
- W4224084493 hasConceptScore W4224084493C120910303 @default.
- W4224084493 hasConceptScore W4224084493C121332964 @default.
- W4224084493 hasConceptScore W4224084493C127413603 @default.
- W4224084493 hasConceptScore W4224084493C12843 @default.
- W4224084493 hasConceptScore W4224084493C134306372 @default.
- W4224084493 hasConceptScore W4224084493C138094506 @default.
- W4224084493 hasConceptScore W4224084493C154945302 @default.
- W4224084493 hasConceptScore W4224084493C15744967 @default.
- W4224084493 hasConceptScore W4224084493C16171025 @default.
- W4224084493 hasConceptScore W4224084493C162324750 @default.
- W4224084493 hasConceptScore W4224084493C169903001 @default.
- W4224084493 hasConceptScore W4224084493C18788176 @default.
- W4224084493 hasConceptScore W4224084493C198082294 @default.
- W4224084493 hasConceptScore W4224084493C2775924081 @default.
- W4224084493 hasConceptScore W4224084493C29302406 @default.
- W4224084493 hasConceptScore W4224084493C33923547 @default.