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Singularity analysis of a 5-bar planar parallel mechanism based on a geometric measures

Title
Singularity analysis of a 5-bar planar parallel mechanism based on a geometric measures
Authors
Choi, Jung-HyunLee, ChanKim, Ma-EumLee, Jehwon
DGIST Authors
Choi, Jung-Hyun
Issue Date
2013
Citation
2013 44th IEEE International Symposium on Robotics, ISR 2013
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
Abstract
This paper proposes a new method for determining the singularity of a 5-bar planar PKM with revolute joints by taking geometric measures. A distinct feature of the proposed method is that it uses perpendicular distances between end-effectors, actuators, and determine singularities based on screw theory. The proposed method is intuitive and simple and thus can be used for analyzing the singularity of various PKMs © 2013 IEEE.
URI
http://hdl.handle.net/20.500.11750/3840
DOI
10.1109/ISR.2013.6695723
Publisher
Institute of Electrical and Electronics Engineers Inc.
Files:
There are no files associated with this item.
Collection:
Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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