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Rahmani Hanzaki, A., Yoosefi, E.. (1390). Coordinate influence on singularity of a 3-ups parallel manipulator. فناوری آموزش, 1(1), 53-58. doi: 10.22061/jcarme.2011.6
A. Rahmani Hanzaki; E. Yoosefi. "Coordinate influence on singularity of a 3-ups parallel manipulator". فناوری آموزش, 1, 1, 1390, 53-58. doi: 10.22061/jcarme.2011.6
Rahmani Hanzaki, A., Yoosefi, E.. (1390). 'Coordinate influence on singularity of a 3-ups parallel manipulator', فناوری آموزش, 1(1), pp. 53-58. doi: 10.22061/jcarme.2011.6
Rahmani Hanzaki, A., Yoosefi, E.. Coordinate influence on singularity of a 3-ups parallel manipulator. فناوری آموزش, 1390; 1(1): 53-58. doi: 10.22061/jcarme.2011.6

Coordinate influence on singularity of a 3-ups parallel manipulator

Journal of Computational & Applied Research in Mechanical Engineering (JCARME)
مقاله 6، دوره 1، شماره 1، شهریور 2011، صفحه 53-58    اصل مقاله (891.22 K)
نوع مقاله: Research Paper
شناسه دیجیتال (DOI): 10.22061/jcarme.2011.6
نویسندگان
A. Rahmani Hanzaki* ؛ E. Yoosefi
Shahid Rajaee Teacher Training University, Lavizan, Tehran, Iran
تاریخ دریافت: 21 تیر 1390،  تاریخ بازنگری: 27 مرداد 1390،  تاریخ پذیرش: 07 شهریور 1390 
چکیده
This paper shows the coordinates influence on singularity of a three degree-of-freedom structure, namely, three-Universal-Prismatic-Spherical (3-UPS) parallel manipulator. Rotational coordinates, which are chosen to define the orientation of the platform, affect the singularity of the manipulator. Euler parameters, which don't have any inherent geometrical singularity are utilized, however they are dependent coordinates. This paper shows the advantage of Euler parameters rather than Euler angles as the rotational coordinates for the manipulator. Additionally, the real loci of singularity for the manipulator due to its structure are predicted.
کلیدواژه‌ها
Singularity analysis؛ 3-UPS؛ Euler parameters
مراجع
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