Publication detail

THE METHODOLOGY OF PARALLEL MECHANISMS SINGULAR CASES ANALYSIS

BŘEZINA, L. HOUFEK, L. KREJSA, J.

Czech title

METODIKA ANALÝZY SINGULÁRNÍCH STAVŮ PARALELNÍCH MECHANIZMŮ

English title

THE METHODOLOGY OF PARALLEL MECHANISMS SINGULAR CASES ANALYSIS

Type

conference paper

Language

en

Original abstract

The paper deals with the concept of singularity analysis methodology used for parallel mechanisms with the same number of inputs and outputs. The methodology is based on the method working with system's Jacobian matrices and gives us detail "recipe" how to put these matrices together. This step can be very difficult especially in case of complicated six degrees of freedom (DOF) parallel mechanisms. Proposed methodology is further applied on the six DOF parallel mechanism. Singular areas for this mechanism are represented graphically.

Czech abstract

Článek pojednává o návrhu metodiky pro vyhodnocování singulárních stavů paralelních mechanizmů se stejným počtem vstupů a výstupů. Mtodika je zložena na známé metodě pracující s determinanty Jakobiánů soustavy a dává nám přesný návod jak tyto matice sestavit. Tento krok může být obvzlášť v případě komplikovaných mechizmů s šesti stupni volnosti velice obtížný. Metodika je aplikována na mechanizmus s šesti stupni volnosti a výsledky jsou graficky prezentovány.

English abstract

The paper deals with the concept of singularity analysis methodology used for parallel mechanisms with the same number of inputs and outputs. The methodology is based on the method working with system's Jacobian matrices and gives us detail "recipe" how to put these matrices together. This step can be very difficult especially in case of complicated six degrees of freedom (DOF) parallel mechanisms. Proposed methodology is further applied on the six DOF parallel mechanism. Singular areas for this mechanism are represented graphically.

Keywords in English

parallel mechanism, singularity analysis

RIV year

2006

Released

06.11.2006

Publisher

ZČU Plzeň

Location

Nečtiny

ISBN

80-7043-477-5

Book

1

Edition number

1

Pages from–to

85–92

Pages count

8

BIBTEX


@inproceedings{BUT19894,
  author="Lukáš {Březina} and Lubomír {Houfek} and Jiří {Krejsa},
  title="THE METHODOLOGY OF PARALLEL MECHANISMS SINGULAR CASES ANALYSIS",
  booktitle="1",
  year="2006",
  month="November",
  pages="85--92",
  publisher="ZČU Plzeň",
  address="Nečtiny",
  isbn="80-7043-477-5"
}