| Autor: |
Stigger, Thomas, Siegele, Johannes, Scharler, Daniel F., Pfurner, Martin, Husty, Manfred L. |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
Mechanism and Machine Theory, Volume 136, June 2019, Pages 256-268 |
| Druh dokumentu: |
Working Paper |
| DOI: |
10.1016/j.mechmachtheory.2019.03.011 |
| Popis: |
The aim of this paper is to give a detailed examination of the input and output singularities of a 3-RUU parallel manipulator in the translational operation mode. This task is achieved by using algebraic constraint equations. For this type of manipulator a complete workspace representation in Study coordinates is presented after elimination of the input parameters. Both, input and output singularities are mapped into a Study subspace as well as into the joint space. Therewith a detailed singularity investigation of the translational operation mode of a 3-RUU parallel manipulator is provided. This paper is an extended version of a previous publication. The addendum comprises the discovery of a possible transition between two operation modes as well as a self motion and an examination of another component of the output singularity surface, most of them for arbitrary design parameters. |
| Databáze: |
arXiv |
| Externí odkaz: |
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