ENGLISH

Singular Configurations of Mechanisms and Manipulators

By Andreas Muller , Dimiter Zlatanov

Book information

Publisher
Springer International Publishing
Year
2019
ISBN
978-3-030-05218-8, 978-3-030-05219-5
Language
english
Format
PDF
Filesize
9 MB (9483857 bytes)
Series
CISM International Centre for Mechanical Sciences 589
Edition
1st ed.
Pages
IX, 229\236
Time added
2019-04-19 19:00:00
Engineering; Mechanical Engineering; Robotics and

Description

The book introduces the main problems, key methods, and milestone results in singularity analysis of mechanisms. It provides a comprehensive and concise overview of basic results while also addressing a few advanced topics of singularities in mechanical systems and robots. Front Matter ....Pages i-ix Generalized Singularity Analysis (Dimiter Zlatanov)....Pages 1-38 Singularity Set Computation: A Hands-On Session with the CUIK Suite (Oriol Bohigas)....Pages 39-65 Cuspidal Robots (Philippe Wenger)....Pages 67-99 Mechanism Constraints and Singularities—The Algebraic Formulation (Manfred L. Husty, Dominic R. Walter)....Pages 101-180 Local Investigation of Mobility and Singularities of Linkages (Andreas Müller)....Pages 181-229

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