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Analysis of the degrees-of-freedom of spatial parallel manipulators in regular and singular configurations

Srivatsan, Arun R and Bandyopadhyay, Sandipan and Ghosal, Ashitava (2013) Analysis of the degrees-of-freedom of spatial parallel manipulators in regular and singular configurations. In: MECHANISM AND MACHINE THEORY, 69 . pp. 127-141.

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Official URL: http://dx.doi.org/10.1016/j.mechmachtheory.2013.04...


This paper presents a study of the nature of the degrees-of-freedom of spatial manipulators based on the concept of partition of degrees-of-freedom. In particular, the partitioning of degrees-of-freedom is studied in five lower-mobility spatial parallel manipulators possessing different combinations of degrees-of-freedom. An extension of the existing theory is introduced so as to analyse the nature of the gained degree(s)-of-freedom at a gain-type singularity. The gain of one- and two-degrees-of-freedom is analysed in several well-studied, as well as newly developed manipulators. The formulations also present a basis for the analysis of the velocity kinematics of manipulators of any architecture. (C) 2013 Elsevier Ltd. All rights reserved.

Item Type: Journal Article
Additional Information: copyright for this article belongs to ELSEVIER SCIENCE
Keywords: Parallel manipulators; Instantaneous degrees-of-freedom; Singularity; Lower-mobility manipulators
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Depositing User: Id for Latest eprints
Date Deposited: 26 Nov 2013 15:15
Last Modified: 26 Nov 2013 15:15
URI: http://eprints.iisc.ac.in/id/eprint/47784

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