Optimal Design and Singularity Analysis of a Spatial Parallel Manipulator
Optimal design and singularity analysis are two important aspects of mechanism design, and they are discussed within a spatial parallel manipulator in this work. Resorting to matrix transformation, the parametric kinematic model is established, upon which the inverse position and Jacobian are analyz...
| Main Author: | |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-04-01
|
| Series: | Symmetry |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2073-8994/11/4/551 |