Journal of Machinery Manufacture and Reliability · 2012 · 11 citations · 9 references
EngineeringMechanical EngineeringRobotics EngineeringRobot DynamicsRobot KinematicsRoboticsDifferential KinematicsKinematic ConstraintsManipulator DesignManipulator DynamicsRobot ManipulatorsSingularity AnalysisForce DistributionManipulability AnalysisParallel Manipulator SingularitiesParallel ManipulatorsParallel Structure
The criteria of proximity to singularities of parallel structure mechanisms are considered. The criteria are based on the relative moments of forcing screws acting on the output unit of the mechanism and kinematic screws acting at the input of kinematic pairs.
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