Record Details

SINGULARITIES IN MECHANISMS - THE LOCAL TRAJECTORY TRACKING PROBLEM

DSpace at IIT Bombay

View Archive Info
 
 
Field Value
 
Title SINGULARITIES IN MECHANISMS - THE LOCAL TRAJECTORY TRACKING PROBLEM
 
Creator SHANKAR, S
SARAF, A
 
Description This paper is concerned with the problem of a mechanism tracking a trajectory that passes through a singularity (i.e. a critical value of the forward map of the mechanism). The following phenomenon can occur-while the mechanism cannot track the given trajectory, it can however track a reparametrized version by pausing at the singularity. Several mechanisms are considered that exhibit this phenomenon. Some of these mechanisms are studied via groups of symmetries of the mechanism. One example uses such symmetries to describe the singularities of an orthogonal 3-axis wrist.
 
Publisher PERGAMON-ELSEVIER SCIENCE LTD
 
Date 2011-08-26T12:59:20Z
2011-12-26T12:57:27Z
2011-12-27T05:41:23Z
2011-08-26T12:59:20Z
2011-12-26T12:57:27Z
2011-12-27T05:41:23Z
1995
 
Type Article
 
Identifier MECHANISM AND MACHINE THEORY, 30(8), 1139-1148
0094-114X
http://dx.doi.org/10.1016/0094-114X(95)00037-Y
http://dspace.library.iitb.ac.in/xmlui/handle/10054/11317
http://hdl.handle.net/10054/11317
 
Language en