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Singular configurations and direct kinematics of a new parallel manipulator
Proceedings 1992 IEEE International Conference on Robotics and Automation, 2003A light parallel manipulator currently under development at INRIA is presented. The problems of its singular configurations and its direct kinematics have been addressed. A geometrical approach makes it possible to find the constraint equations on the generalized coordinate vector such that the resulting configuration of the manipulator is singular ...
Nicolas Mouly, Jean-Pierre Merlet
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On the singular configurations of statically determinate structures
International Journal of Mechanical Sciences, 1965Abstract This paper shows how singular configurations of statically determinate plane structures can be determined. When the structure is a linkage, such configurations entail degrees of freedom “in the small”, which make it act as a mechanism for infinitesimal motions.
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6R Linkages with Hidden Singularities
Springer Proceedings in Advanced Robotics, 2022Zijia Li, Li Zijia
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Finite-time cosmological singularities and the possible fate of the Universe
Physics Reports, 2023Supriya Pan +2 more
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Joint Stiffness Identification Based on Robot Configuration Optimization Away from Singularities
Applied Sciences (Switzerland), 2023Rongqi Wang, Xiaoqin Zhou, Xiuzhi He
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