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Erschienen in:
2010 | OriginalPaper | Buchkapitel
Singularity Analysis of a Six-Dof Parallel Manipulator Using Grassmann-Cayley Algebra and Gröbner Bases
verfasst von : Stéphane Caro, Guillaume Moroz, Thibault Gayral, Damien Chablat, Chao Chen
Erschienen in: Brain, Body and Machine
Verlag: Springer Berlin Heidelberg
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The subject of this paper deals with the singularity analysis of a sixdof three-legged parallel manipulator for force-feedback interface. To this end, a geometric condition for the manipulator singularities is obtained by means of Grassmann-Cayley algebra; the parallel singularities of the manipulator are computed using Jacobian and Gröbner basis. As a result, the algebraic relations of the singularities satisfied by the orientation variables are reported. Finally, the parallel singularities of the manipulator are plotted in its orientation workspace.