... and is applied to calculate the finite DOF. It rests on an algebraic condition on the joint screws and the corresponding computational algorithm to determine the maximal rank of the constraint Jacobian in an arbitrary (possibly singular) reference configuration, making use of the analytic condition that minors...

... integration of the equations of motion (EOM) is the lack of a singularity-free parameterization of spatial motions, which is usually tackled by using unit quaternions. Lie group integration methods were proposed as alternative approach to the singularity-free time integration. Lie group methods are inherently...

... Abstract The modeling and control of redundantly actuated closed-loop mechanical systems is considered in the present work an illustrated with a planar four-bar mechanism and a 3-D parallel manipulator. A specific trajectory involving singular configurations is generated and then followed using...

... architecture does not exhibit rotation singularities, i.e. configurations in which the platform gains rotational degrees of freedom. A geometric interpretation of the translation singularities is provided. parallel manipulators translational motion singularities Proceedings of DETC'01 ASME 2001...

... are considered and evaluated in MATLAB simulation, based on all-eight-cable-positive tensions workspace, singularities, magnitude and slope of cable tensions during trajectories, translational/rotational stiffness, and cable interference. As ever in engineering design, there are tradeoffs, and recommendations...

... four-cable pseudostatics positive cable tensions kinematics singularities stiffness CABLE SUSPENDED ROBOT FOR ALGAE HARVESTING Robert L. Williams II, Ph.D. Mechanical Engineering Department Ohio University Athens, Ohio, USA [email protected] Jesus Pagan, Ph.D. Engineering Technology Department...

... Abstract The local analysis is an established approach to the study of singularities and mobility of linkages. Key result of such analyses is a local picture of the finite motion through a configuration. This reveals the finite mobility at that point and the tangents to smooth motion curves...

... The study of mechanism singularities has traditionally focused on holonomic systems. On the other hand many robotic systems are characterized by non-holonomic constraints, such as mobile platforms and manipulators driven by non-holonomic joints, and a general concept of singularities seems...

... 21 03 2011 It is commonly assumed that the singularities of serial manpulators constitute generically smooth manifolds. This assumption has not been proved yet, nor is there an established notion of of genericity. In this paper two different notions of generic properties of forward...

...) mobility is determined by the dimension of the configuration space, the differential mobility may be different. This is so for singular configurations, but also at regular configurations of underconstrained mechanisms. Overconstrained mechanisms are identified as those comprising manifolds of regular...

... of joint α . Consequently, almost all mechanism are trivial, i.e. not overconstrained. Mobility generic mobility kinematics singularities 29 May 2007 22:18 Proceedings of the ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference...

... 22 05 2009 Transverse-regularity is a point-wise manipulator property, ensuring that the singular set Σ is locally a smooth manifold. A generic manipulator is one which is transverse-regular in any configuration. The contribution of this paper is a necessary and sufficient condition...

... 30 06 2008 The instantaneous forward problem (IFP) singularities of a parallel manipulator (PM) must be determined during the manipulator design and avoided during the manipulator operation, because they are configurations where the end-effector pose (position and orientation) cannot...

... 19 06 2008 The instantaneous forward problem (IFP) singularities of a parallel manipulator (PM) must be determined during the manipulator design and avoided during the manipulator operation, because they are configurations where the end-effector pose (position and orientation) cannot...

... that guarantee the pure translation of the platform are analytically derived. Moreover, it is presented the demonstration that these manipulators can assume singular configurations, named rotation singularities, in which they are not able to impose the platform translation any longer. Finally, the geometric...

... Singularities degree of freedom overconstrained kinematotropic paradox-in-the-small local analysis kinematic loops Lie groups algebraic geometry The kinematics of rigid body mechanisms is considered from a differential-geometric perspective. Geometric properties of a mechanism...

... between inpu well as the large va amples of conjugate Department of Mech Proceedings of IDETC/CIE 2005 ASME 200t undercutting be unambiguously defined in e neighborhood of geometric singularities, general computational algorithms to detect tting in a conjugate pair. gularities, envelopes, undercutting...