Topological and Kinematic Singularities for a Class of Parallel Mechanisms | Zendy

Nir Shvalb | Zendy; Moshe Shoham | Zendy; Hagay Bamberger | Zendy; David Blanc | Zendy

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Topological and Kinematic Singularities for a Class of Parallel Mechanisms

Author(s) -

Nir Shvalb,

Moshe Shoham,

Hagay Bamberger,

David Blanc

Publication year - 2009

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2009/249349

Subject(s) - gravitational singularity , singularity , kinematics , planar , topology (electrical circuits) , class (philosophy) , mechanism (biology) , mathematics , singularity theory , classical mechanics , geometry , physics , computer science , mathematical analysis , combinatorics , artificial intelligence , computer graphics (images) , quantum mechanics

We study singularities for a parallel mechanism with a planar movingplatform in ℝ(=2,3), with joints which are universal, spherical (spatial case),or rotational (planar case). For such mechanisms, we give a necessary conditionfor a topological singularity to occur, and describe the corresponding kinematicsingularity. An example is provided

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