The methodization of examination of the mechanisms of high structural complexity

Młynarski, Tadeusz; Romaniak, Krystyna

doi:10.1016/s0094-114x(01)00013-1

Cited by 7 publications

(2 citation statements)

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“…However, they used the Clifford algebra of the projective plane to provide an algebraic representation for combined rotations and translations and presented the set of singular configurations, which they call the singularity surface. Mlynarski and Romaniak [10] have presented a methodology of modification to analyse the kinematic properties, including the singularity of the mechanism of the loading machine. Karger [11] has discussed the singular positions and self-motions of a special class of planar parallel manipulators by giving four theorems.…”

Section: Introductionmentioning

confidence: 99%

A novel methodology to study the singularity of spatial parallel mechanisms

Zhao

Zhou

2004

The International Journal of Advanced Manufacturing Technology

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In this paper, a novel methodology to study the singularity of spatial parallel mechanisms is presented. With the theory of reciprocal screws, we make a thorough analysis of the kinematic screws of each branch mechanism. According to the physical meaning of the inverse screws of kinematic screws, we introduce the static equilibrium equations to gain a novel methodology to study the singularities of the dynamic mechanisms. Through the novel methodology, we obtain universal criteria that the mechanism will be singular.

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Section: Introductionmentioning

confidence: 99%

A novel methodology to study the singularity of spatial parallel mechanisms

Zhao

Zhou

2004

The International Journal of Advanced Manufacturing Technology

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“…[7] have studied the general planar platform following the lead of Sefrioui and Gosselin [8,9], but they used the Clifford algebra of the projective plane to provide an algebraic representation of combined rotations and translations and presented a set of singular configurations which they call singularity surface. Mlynarski and Romaniak [10] have presented a methodology of modification to analyse kinematic properties, including the loading machine mechanism singularity. Karger [11] has discussed the singular positions and self-motions of a special class of planar parallel manipulators in with theorems.…”

Section: Introductionmentioning

confidence: 99%

The singularity study of spatial hybrid mechanisms based on screw theory

Zhao

Zhou

Feng

et al. 2004

Int J Adv Manuf Technol

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In this paper, a novel methodology based on screw theory to study the singularity of spatial hybrid mechanisms is presented. According to the physical meaning of inverse screws, we introduce the equivalent kinematic screws to replace the function of those of the parallel limbs, and therefore the hybrid branch can be transformed into a pure series kinematic chain which can facilitate the whole analytical process of the singularity of complex spatial hybrid mechanisms. In fact, this methodology can be widely used to solve the singularity problems of spatial hybrid mechanisms based on the analysis of their kinematic characters.

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