• DocumentCode
    2018532
  • Title

    Self-motions of Griffis-Duffy type parallel manipulators

  • Author

    Husty, Manfred L. ; Karger, Adolf

  • Author_Institution
    Dept. of Math. & Appl. Geometry, Montan Univ., Leoben, Austria
  • Volume
    1
  • fYear
    2000
  • fDate
    2000
  • Firstpage
    7
  • Abstract
    A special type of parallel platform manipulator, proposed by Griffis and Duffy (1993), is investigated. It is shown that a large class among the proposed platform types is architecture singular and admits self motions from every point of its workspace. Using a kinematic image space we compute image curves which correspond to the self motions and discuss several special cases
  • Keywords
    geometry; manipulator kinematics; matrix algebra; Griffis-Duffy type parallel manipulators; architecture singularity; image curves; kinematic image space; self-motions; Economic indicators; Equations; Geometry; Kinematics; Leg; Quaternions;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
  • Conference_Location
    San Francisco, CA
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-5886-4
  • Type

    conf

  • DOI
    10.1109/ROBOT.2000.844032
  • Filename
    844032
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2018532