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
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;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844032
