Statics, Instantaneous Kinematics and Singularity Analysis of Planar Parallel Manipulators via Grassmann-Cayley Algebra

Autor:	Ke Fei Wen, Jeh Won Lee
Rok vydání:	2014
Předmět:	Mathematical analysis Inverse General Medicine Plücker coordinates Topology law.invention Computer Science::Robotics symbols.namesake Matrix (mathematics) Grassmann–Cayley algebra law Jacobian matrix and determinant symbols Wrench Plucker Statics Mathematics
Zdroj:	Applied Mechanics and Materials. 532:378-381
ISSN:	1662-7482
DOI:	10.4028/www.scientific.net/amm.532.378
Popis:	The wrench Jacobian matrix plays an important role in statics and singularity analysis of planar parallel manipulators (PPMs). It is easy to obtain this matrix based on plücker coordinate method. In this paper, a new approach is proposed to the analysis of the forward and inverse wrench Jacobian matrix used by Grassmann-Cayley algebra (GCA). A symbolic formula for the inverse statics and a coordinate free formula for the singularity analysis are obtained based on this Jacobian. As an example, this approach is implemented for the 3-RPR PPMs.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::16d9b221961e4d2614736ba311484acf https://doi.org/10.4028/www.scientific.net/amm.532.378 Zobrazit plný text záznamu