| contributor author | Ilian A. Bonev | |
| contributor author | Dimiter Zlatanov | |
| contributor author | Clément M. Gosselin | |
| date accessioned | 2017-05-09T00:10:58Z | |
| date available | 2017-05-09T00:10:58Z | |
| date copyright | September, 2003 | |
| date issued | 2003 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27757#573_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/128818 | |
| description abstract | This paper presents the results of a detailed study of the singular configurations of 3-DOF planar parallel mechanisms with three identical legs. Only prismatic and revolute joints are considered. From the point of view of singularity analysis, there are ten different architectures. All of them are examined in a compact and systematic manner using planar screw theory. The nature of each possible singular configuration is discussed and the singularity loci for a constant orientation of the mobile platform are obtained. For some architectures, simplified designs with easy to determine singularities are identified. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory | |
| type | Journal Paper | |
| journal volume | 125 | |
| journal issue | 3 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.1582878 | |
| journal fristpage | 573 | |
| journal lastpage | 581 | |
| identifier eissn | 1528-9001 | |
| keywords | Screws | |
| keywords | Parallel mechanisms AND Equations | |
| tree | Journal of Mechanical Design:;2003:;volume( 125 ):;issue: 003 | |
| contenttype | Fulltext | |