| Description |
1 online resource (ix, 229 pages) : illustrations (some color) |
| Series |
CISM International Centre for Mechanical Sciences, Courses and Lectures, 0254-1971 ; volume 589 |
|
Courses and lectures ; no. 589. 0254-1971
|
| Contents |
Intro; Preface; Contents; Generalized Singularity Analysis; 1 Introduction; 2 The Standard View of Singularity; 2.1 The Simplest Case: Serial Chain Singularity; 2.2 The Serial-Parallel Duality; 2.3 A Generalization: The Input-Output Equation; 2.4 The Counterexamples; 3 Singularity via Differentiable Maps; 3.1 Serial Chains; 3.2 Chains with Closed Loops; 3.3 Regular and Singular Configurations; 4 Singularity via Instantaneous Kinematics; 4.1 Instantaneous Motions; 4.2 Instantaneous Definition of Singularity; 4.3 Singularity Types and Classes; 4.4 Classes of Singularities |
|
5 Common and Uncommon Singularities5.1 Generic and Nongeneric Singularity Types; 5.2 Parallel Mechanisms with Extendable Legs; 5.3 The Isotropic Singularity of the Orthoglide; 6 Constraint Singularities of Parallel Manipulators; 6.1 Another ̀̀Isotropic'' Configuration; 6.2 Constraints, Freedoms, and Constrained Singularities; 6.3 Singularities of 3-RPS Manipulators; 6.4 The Simplest Constraint Singularity; 6.5 Constraint Singularities as Branching Points; 7 Conclusions; References; Singularity Set Computation: A Hands-On Session with the CUIK Suite; 1 Introduction; 1.1 Basic Concepts |
|
1.2 An Illustrative Example2 Singularity Set Computation with the CUIK Suite; 2.1 Preparation; 2.2 Dextar's Geometry; 2.3 Assembly Constraints; 2.4 Inverse Singularity Conditions; 2.5 Forward Singularity Conditions; 2.6 Computation and Output Plots; 2.7 Visualizing the Output Portrait; 2.8 Visualizing the Input Portrait; 2.9 Workspace Boundaries and Interior Barriers; References; Cuspidal Robots; 1 Introduction; 1.1 Preliminaries; 1.2 Brief History of Cuspidal Robots; 1.3 Questions of Interest; 1.4 Chapter Outline; 2 Postures; 2.1 Definition |
|
2.2 Postures and Aspects Case 1: Non-cuspidal Robots2.3 Postures and Aspects Case 2: Cuspidal Robots; 2.4 Non-singular Change of Posture Versus Singular Change of Posture; 3 Path Feasibility; 3.1 Showing an Example; 3.2 Regions of Feasible Paths for Non-cuspidal Robots; 3.3 Characteristic Surfaces; 3.4 Uniqueness Domains and Regions of Feasible Paths for Cuspidal Robots; 4 Identification, Enumeration and Classification of Cuspidal and Non-cuspidal Robots; 4.1 Simplifying Geometric Conditions; 4.2 Identification of Cuspidal Robots and Classification |
|
5 Higher-Degree-of-Freedom Robots and Parallel Robots5.1 6-dof Serial Robots; 5.2 Parallel Robots; 6 Conclusions; References; Mechanism Constraints and Singularities-The Algebraic Formulation; 1 Introduction; 2 Parameterization of SE(3); 3 Constraint Equations; 3.1 Geometric Constraint Equations; 3.2 Elimination Method; 3.3 Linear Implicitization; 3.4 Singularities in Serial Chains; 4 Algebraic Basics; 4.1 Ideals and Affine Varieties; 4.2 Standard Bases; 4.3 Elimination; 4.4 Dimension, Primary Decomposition; 5 Complete Kinematic Analysis of the TSAI Parallel Manipulator; 5.1 Introduction |
| Summary |
The book introduces the main problems, key methods, and milestone results in singularity analysis of mechanisms. It provides a comprehensive and concise overview of basic results while also addressing a few advanced topics of singularities in mechanical systems and robots |
| Notes |
Online resource; title from PDF title page (SpringerLink, viewed February 26, 2019) |
| Subject |
Singularities (Mathematics)
|
|
Kinematics.
|
|
kinematics.
|
|
Kinematics
|
|
Singularities (Mathematics)
|
| Form |
Electronic book
|
| Author |
Müller, Andreas (Lecturer in mechanics and robotics), editor.
|
|
Zlatanov, Dimiter, editor
|
| ISBN |
9783030052195 |
|
3030052192 |
|
9783030052201 |
|
3030052206 |
|
