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"
}