| contributor author | J. Wang | |
| contributor author | C. M. Gosselin | |
| date accessioned | 2017-05-08T23:57:20Z | |
| date available | 2017-05-08T23:57:20Z | |
| date copyright | December, 1998 | |
| date issued | 1998 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27656#555_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/120832 | |
| description abstract | The kinematic analysis and the determination of the singularity loci of spatial four-degree-of-freedom parallel manipulators with prismatic or revolute actuators are discussed in this article. A new method for the derivation of the velocity equations and the corresponding Jacobian matrices is presented. The numerical determination of the workspace boundaries is then briefly discussed. Finally, the determination of the singularity loci is performed using the velocity equations and examples are given to illustrate the results obtained. Spatial four-degree-of-freedom parallel manipulators can be used in several robotic applications as well as in flight simulators. The determination of their singularity loci is a very important design issue. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Kinematic Analysis and Singularity Loci of Spatial Four-Degree-of-Freedom Parallel Manipulators Using a Vector Formulation | |
| type | Journal Paper | |
| journal volume | 120 | |
| journal issue | 4 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2829314 | |
| journal fristpage | 555 | |
| journal lastpage | 558 | |
| identifier eissn | 1528-9001 | |
| keywords | Manipulators | |
| keywords | Equations | |
| keywords | Jacobian matrices | |
| keywords | Actuators | |
| keywords | Design | |
| keywords | Robotics AND Flight | |
| tree | Journal of Mechanical Design:;1998:;volume( 120 ):;issue: 004 | |
| contenttype | Fulltext | |
