Singularity analysis of closed-loop kinematic chains
作者： C. Gosselin , J. Angeles
DOI: 10.1109/70.56660
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摘要: The different kinds of singularities encountered in closed-loop kinematics chains are analyzed. A general classification these three main groups, which is based on the properties Jacobian matrices chain, described. identification singular configurations particularly relevant for hard automation modules or robotic devices closed kinematic chains, such as linkages and parallel manipulators. Examples given to illustrate application method mechanical systems. >
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