A Differential-Geometric Analysis of Singularities of Point Trajectories of Serial and Parallel Manipulators

[+] Author and Article Information
Ashitava Ghosal

Department of Mechanical Engineering, Indian Institute of Science, Bangalore 560 012e-mail: asitava@mecheng.iisc.ernet.in

Bahram Ravani

Department of Mechanical and Aeronautical Engineering, University of California, Davis, CA 95616e-mail: bravani@ucdavis.edu

J. Mech. Des 123(1), 80-89 (Jul 01, 1998) (10 pages) doi:10.1115/1.1325008 History: Received July 01, 1998
Copyright © 2001 by ASME
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Grahic Jump Location
Velocity ellipse at a singular point
Grahic Jump Location
Velocity at a singular point
Grahic Jump Location
Velocity ellipse at a singular point
Grahic Jump Location
A schematic of a general 2R manipulator
Grahic Jump Location
Velocity ellipse at a non-singular point (θ12)=(0,0)°
Grahic Jump Location
Degenerate velocity “ellipse” at a singular point
Grahic Jump Location
The RPSSPR-SPR parallel manipulator
Grahic Jump Location
Velocity ellipsoid at a non-singular point



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