Kapilavai, S. K. V. A., & Nawratil, G. (2025). Architecture Singularity Distance Computations for Linear Pentapods. JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 17(2), 1–11. https://doi.org/10.1115/1.4065789
E104-03 - Forschungsbereich Differentialgeometrie und geometrische Strukturen E325-03 - Forschungsbereich Messtechnik und Aktorik
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Journal:
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
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ISSN:
1942-4302
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Date (published):
Feb-2025
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Number of Pages:
11
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Publisher:
ASME
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Peer reviewed:
Yes
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Keywords:
Singularity; mechanism design; parallel mechanisms and robots; linear pentapods; architecture singularity distance; theoretical kinematics; computational kinematics
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Abstract:
The kinematic/robotic community is not only interested in measuring the closeness of a given robot configuration to its next singular one but also interested in a geometric meaningful index evaluating how far the robot design is away from being architecturally singular. Such an architecture singularity distance, which can be used by engineers as a criterion within the design process, is presented for a certain class of parallel manipulators called linear pentapods. Geometrically the architecture singular designs are well-understood and can be sub-classified into several cases, which allows for solving the optimization problem of computing the closest architecture singular design to a given linear pentapod with algorithms from numerical algebraic geometry.
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Project title:
Singularitätsnähe von Stewart-Gough Plattformen: P 30855-N32 (FWF - Österr. Wissenschaftsfonds)
