Singular configurations and direct kinematics of a new parallel manipulator

@inproceedings{Mouly1992SingularCA,
  title={Singular configurations and direct kinematics of a new parallel manipulator},
  author={Nicolas Mouly and Jean-Pierre Merlet},
  booktitle={ICRA},
  year={1992}
}
We present in this paper a new mechanical architecture for a parallel manipulator. We address the problem of the determination of the singular configurations of this architecture. Then we show that the direct kinematic problem has at most 16 solutions and exhibit an algorithm to find all the solutions. 
Highly Cited
This paper has 24 citations. REVIEW CITATIONS

From This Paper

Figures, tables, and topics from this paper.
15 Citations
12 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-10 of 15 extracted citations

References

Publications referenced by this paper.
Showing 1-10 of 12 references

Direct position analysis of the Stewart Platform Mechanism

  • C. Innocenti, V. Parenti-Castelli
  • Mechanism and Machine Theory,
  • 1990
1 Excerpt

December). Manipulateurs parallèles, 4eme partie: Mode d’assemblage et cinématique directe sous forme polynomiale

  • Merlet J-P
  • INRIA Research Report,
  • 1989
2 Excerpts

A Stewart platform based manipulator: general theory and practical construction

  • E. F. Fichter
  • The Int. J. of Robotics Research,
  • 1986
3 Excerpts

Hybrid control of a manipulator with an active compliant wrist

  • C. Reboulet, A. Robert
  • 1985
2 Excerpts

Parallel manipulator

  • H. Inoue, Y. Tsusaka, T. Fukuizumi
  • ISRR, Gouvieux,
  • 1985
3 Excerpts

Structures and kinematics of parallel topology manipulating systems

  • Zamanov V.B, Sotirov Z.M
  • Int. Symp. on Design and Synthesis,
  • 1984
2 Excerpts

The rigidity of compound spatial grid

  • A. Dandurand
  • Structural Topology
  • 1984
1 Excerpt

A combinatorial perspective on algebraic geometry

  • H. Crapo
  • Colloquio Int. sulle Teorie Combinatorie, Roma…
  • 1973
1 Excerpt

Similar Papers

Loading similar papers…