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Título: | Straightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments |
Autor: | Borràs, Julia CSIC ORCID ; Thomas, Federico CSIC ORCID ; Torras, Carme CSIC ORCID | Fecha de publicación: | 2009 | Editor: | Springer Nature | Citación: | Proceedings of the 5th International Workshop on Computational Kinematics: 359-366 (2009) | Resumen: | An algorithm to derive the pure condition of any double-planar Stewart-Gough platform in a standard form suitable for comparison is presented. By applying the multilinear properties of brackets directly to the superbracket encoding of the pure condition, no straightening is required. It is then shown that any 3-3 platform has a corresponding 6-6 platform having its same superbracket, meaning that they have identical singularity loci. In general, the superbracket of any doubleplanar platform can be written as a linear combination of the superbrackets of 3-3 platforms, leading to a direct singularity assessment by inspecting the resulting decomposition. | Descripción: | Presentado al 5th Computational Kinematics celebrado en Duisburg (Germany) del 6 al 8 de mayo de 2009. | Versión del editor: | http://dx.doi.org/10.1007/978-3-642-01947-0_44 | URI: | http://hdl.handle.net/10261/30117 | DOI: | 10.1007/978-3-642-01947-0_44 | ISBN: | 978-3-642-01946-3 |
Aparece en las colecciones: | (IRII) Libros y partes de libros |
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Straightening-free.pdf | 119,6 kB | Adobe PDF | Visualizar/Abrir |
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