Obtaining configuration space and singularity maps for parallel manipulators - Macho, E.; Altuzarra, O.; Amezua, E.; Hernandez, A. (Mechanism and machine theory, 2009)
Keywords: Applied sciences; Computer science; control theory; systems; Control theory. Systems; Drives; Exact sciences and technology; Fundamental areas of phenomenology (including applications); Linkage mechanisms, cams; Mechanical engineering. Machine design; Parallel manipulator; Physics; Position problem; Robotics; Singularity analysis; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Working modes; Workspace; Working modes; Singularity analysis; Parallel manipulator; Position problem; Workspace; Positioning; Singularity; Moving robot; Mechanism analysis; Parallel mechanism; Jacobi matrix; Desassembly; Modeling; Robotics; Kinematics; Linkage mechanism; Kinematic chain; Assembly