Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector

Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector

Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in...

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Bibliographic Details
Main Authors: Tommaso Marchi, Giovanni Mottola, Josep M. Porta, Federico Thomas, Marco Carricato
Format: Article
Language:English
Published: MDPI AG 2021-01-01
Series:Machines
Subjects:
parallel manipulators
reconfigurability
direct kinematics
singularities
Online Access:https://www.mdpi.com/2075-1702/9/1/7

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