Topological and kinematic singularities for a class of parallel mechanisms

Nir Shvalb; Moshe Shoham; Hagay Bamberger; David Blanc

doi:10.1155/2009/249349

Topological and kinematic singularities for a class of parallel mechanisms

Nir Shvalb, Moshe Shoham, Hagay Bamberger, David Blanc

Department of Industrial Engineering and Management

Research output: Contribution to journal › Article › peer-review

9 Scopus citations

Abstract

We study singularities for a parallel mechanism with a planar moving platform in ℝ^d (d=2,3), with joints which are universal, spherical (spatial case), or rotational (planar case). For such mechanisms, we give a necessary condition for a topological singularity to occur, and describe the corresponding kinematic singularity. An example is provided.

Original language	English
Article number	249349
Journal	Mathematical Problems in Engineering
Volume	2009
DOIs	https://doi.org/10.1155/2009/249349
State	Published - 2009

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abstract = "We study singularities for a parallel mechanism with a planar moving platform in ℝd (d=2,3), with joints which are universal, spherical (spatial case), or rotational (planar case). For such mechanisms, we give a necessary condition for a topological singularity to occur, and describe the corresponding kinematic singularity. An example is provided.",

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Topological and kinematic singularities for a class of parallel mechanisms

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