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2001•Journal of National University of Defense TechnologyRequires access

A New Method for Singularity Analysis of Parallel Manipulators

Wu Yu

Open publisher page 1 citations

Abstract

Based on the property of configuration space of parallel manipulators and by using differential geometry and topology, this paper proposes a new approach for the classification of singularity of parallel manipulators, two types of singularity are obtained, i e, topology singularity and parameterization singularity Also comparisons with existing classification methods are made

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What this paper is about

Based on the property of configuration space of parallel manipulators and by using differential geometry and topology, this paper proposes a new approach for the classification of singularity of parallel manipulators, two types of singularity are obtained, i e, topology singularity and parameterization singularity Also comparisons with existing classification methods are made

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Available abstract

Based on the property of configuration space of parallel manipulators and by using differential geometry and topology, this paper proposes a new approach for the classification of singularity of parallel manipulators, two types of singularity are obtained, i e, topology singularity and parameterization singularity Also comparisons with existing classification methods are made

Key concepts: Singularity, Topology (electrical circuits), Singularity theory, Mathematics, Essential singularity, Property (philosophy), Parallel manipulator, Space (punctuation)

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