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Topology optimization of wheel spoke cavities for lightweight design under bending fatigue and impact load cases. [PDF]

Sci Rep
Zhang G, Cui X, Zang Y, Zhou Y, Lu J, Li Z, Yang H, Wang J, Ye Z, Li R, Zhou L.   +10 more
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Advantages of Singular Configurations in Robot Motion

Advantages of Singular Configurations in Robot Motion
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Singularity analysis of rooftop configuration

2018 Indian Control Conference (ICC), 2018
Control Moment Gyroscopes are widely used momentum exchange devices with spinning rotors and one or more actuated gimbals. The primary problem associated with a control moment gyroscope array is the existence of singularities. Singularities occur when the torque vector is constrained to a plane or a line and hence torque cannot be generated in IR3 ...
T. S. Vishnu, Harsha Simha, null Priyadarshnam   +2 more
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Singular configurations of planar parallel manipulators

Archives of Civil and Mechanical Engineering, 2006
The paper deals with determining singular configurations for a group of 3 DOF planar parallel manipulators whose links form revolute and prismatic pairs. Relations for Jacobian matrix determinants for selected mechanisms are derived. The form of the equations differs depending on the structure of the inner part of the manipulators belonging to the ...
A. GRONOWICZ, M. PRUCNAL-WIESZTORT
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Dynamic singular configuration of flexible manipulators

Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), 2002
In this paper, the new concept of the dynamic singular configuration of flexible manipulators using the inverse dynamics method, we need to consider this dynamic singular configuration of flexible manipulators. Without considering it, the control around the dynamic singular configuration may become unstable.
K. Kanaoka, T. Yoshikawa
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Identification and Classification of the Singular Configurations of Mechanisms

Mechanism and Machine Theory, 1995
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ZLATANOV, DIMITER, R. G. Fenton, B. Benhabib   +2 more
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Singular configurations of structural systems

International Journal of Solids and Structures, 1999
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Controllability issues of robots in singular configurations

Proceedings. 1991 IEEE International Conference on Robotics and Automation, 2002
Examples are given that modify some oversimplified statements usually made about the motion of robots in singular configurations. A robot may be controlled in an arbitrary direction from a singular configuration if the velocity profiles are shaped in a proper way.
L. Nielsen, C. Canudas de Wit, P. Hagander   +2 more
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Singular Assembly Configurations and Configuration Bifurcation Characteristics of the SRHGSMP

Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 2008
In this paper, the configuration bifurcation characteristics at the vicinities of singular points going with different input parameters are investigated. Then, with the aid of the assembly configurations at the theoretical singular points, the reasons to cause the singularities are analyzed.
Yu-Xin Wang, Yu-Tong Li, Zheng Huang, Shuang-Xia Pian   +3 more
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Singular configurations and workspace of robots

Robotics and Autonomous Systems, 1988
Abstract The purpose of this paper is to explain the set-up of a general method for finding the singular configurations of a robot. Open en closed chain manipulators made out of links with single degree of freedom joints are considered. The manipulator singular configurations corresponding to inner and outer limits of workspace are found by the study
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