Geometric algebra approach to analyzing the singularity of six-DOF parallel mechanism
Singular configurations must be avoided in the practical manipulation of parallel mechanism. This paper presents an approach of singularities analysis of six degrees of freedom (DOF) parallel mechanism applying geometric algebra. Twists of all passive joints in each limb are described in geometric a...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
The Japan Society of Mechanical Engineers
2019-10-01
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| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/13/4/13_2019jamdsm0076/_pdf/-char/en |