@inproceedings{ee0ebdb6ac414b938f5a2459b193e03c,
title = "Geometric interpretation of singular configurations of a class of parallel manipulators",
abstract = "This paper proposes an equivalent serial kinematic chain approach to identify the geometric characteristics of singular configurations of a class of parallel manipulators, which can be reduced to a structure composed of three XS and/or SX legs. Here, S and X denote respectively a spherical joint and a one-degreeof- freedom joint or generalized joint. The equivalent serial kinematic chain associated with a parallel kinematic chain composed of two XS legs is first obtained using the concept of reciprocal screws. The forward kinematic singularity (also static singularity) analysis of the parallel manipulators is then reduced to the singularity (stability) analysis of a single-loop structure. Finally, the geometric characteristics of singular configurations of the class of parallel manipulators are obtained with almost no algebraic derivation.",
keywords = "Equivalent serial kinematic chain approach, Parallel mechanism, Screw theory, Singularity",
author = "Xianwen Kong and Jingjun Yu and Cl{\'e}ment Gosselin",
year = "2011",
doi = "10.1115/DETC2011-48165",
language = "英语",
isbn = "9780791854839",
series = "Proceedings of the ASME Design Engineering Technical Conference",
number = "PARTS A AND B",
pages = "1009--1016",
booktitle = "ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011",
edition = "PARTS A AND B",
note = "ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 ; Conference date: 28-08-2011 Through 31-08-2011",
}