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Publication details

Singular cases of the planar parallel robot

Conference Paper (Czech conference)

Belda Květoslav, Stejskal V.

serial: Engineering Mechanics 2003, p. 1-8 , Eds: Náprstek J., Fischer C.

publisher: Czech Technical University, (Prague 2003)

action: Engineering Mechanics 2003, (Svratka, CZ, 12.05.2003-15.05.2003)

research: CEZ:AV0Z1075907

project(s): GA101/03/0620, GA ČR

keywords: planar parallel robot, singular analysis, kinematic transformations

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abstract (eng):

Singular cases - singularities of the robot are defined as positions in which the robot loses kinematic definiteness. The loss appears in both direct and inverse kinematic transformation. Existence of the singularities in the robot workspace causes sharp changes in profiles of the velocities and accelerations and changes in force effects. The objective of this paper is to investigate singularities (singular positions) of one parallel robot structure and to simply classify such singular cases.

Cosati: 09N


2012-12-21 16:10