An integrated study of the workspace and singularity for a Schönflies parallel manipulator

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• 作者：J. Jesú ; s Cervantes-Sá ; nchez ; José ; Marí ; a Rico-Martí ; nez ^{jrico@ugto.mx" class="auth_mail" title="E-mail the corresponding author} ; Ví ; ctor Hugo Pé ; rez-Muñ ; oz ^{vperez@ugto.mx" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Workspace ; Singularity ; Sch&ouml ; nflies parallel manipulator
• 刊名：Journal of Applied Research and Technology
• 出版年：2016
• 出版时间：February 2016
• 年：2016
• 卷：14
• 期：1
• 页码：9-37
• 全文大小：4608 K

文摘

This paper presents a simple and systematic approach to formulate the inverse position problem of a Schönflies parallel manipulator. As a result, the inverse position problem is solved in closed form and leads directly to the automatic generation of the workspace of the manipulator. Additionally, a systematic velocity analysis is also presented, which allows to detect and characterize all the singularities related to this manipulator.