Asymptotics for the remainder of a class of positive quadratures for integrands with an interior singularity

1993 ◽  
Vol 65 (1) ◽  
pp. 121-133
Author(s):  
Knut Petras
Keyword(s):  
Interior Singularity

Kinematic Analysis of a 2-DOF Planar Parallel Manipulator with Automated Selective Activation Mechanism to Avoid Singularities

2012 ◽  
Vol 229-231 ◽  
pp. 761-765
Author(s):  
V. Upendran ◽  
Anjan Kumar Dash
Keyword(s):  
Parallel Manipulator ◽  
Gear Train ◽  
Activation Mechanism ◽  
Belt Drive ◽  
Milling Machine ◽  
Active Joint ◽  
Selective Activation ◽  
Planar Parallel Manipulator ◽  
Main Disadvantage ◽  
Interior Singularity

Parallel Manipulator has lot of applications in areas like flight/automobile simulators, earthquake simulators, milling machine, etc. Main disadvantage of parallel manipulator is the presence of singularities within the workspace. Due to this, entire workspace of a parallel manipulator cannot be used effectively. To overcome this disadvantage, an automated selective activation mechanism is proposed, designed and fabricated using solenoids, gear train and belt drive arrangement. By using this mechanism interior singularity are crossed and this enables the user to utilize the entire workspace. Selective activation mechanism with automation ability is designed in such a way that, depending on activation of solenoid, active joint of manipulator changes from one position to another, which subsequently changes the singularity curves. By changing active joint positions, 4 ways of operating manipulator are identified. For all type of operations, singularity curves are plotted using MATLAB.

Positiveness of second order differential operators with interior singularity

2016 ◽  
Author(s):  
Oktay Mukhtarov ◽  
Hayati Olgar ◽  
Fahreddin Muhtarov
Keyword(s):  
Differential Operators ◽  
Second Order ◽  
Interior Singularity

Simulation of kinematic and workspace analysis of 3-PRS parallel manipulator

2015 ◽  
Vol 06 (01) ◽  
pp. 1550007 ◽  
Author(s):  
Y. D. Patel ◽  
P. M. George
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Advanced Technology ◽  
Effective Utilization ◽  
Closed Form Solutions ◽  
Current State ◽  
Kinematics Simulation ◽  
Complex Process ◽  
Workspace Analysis ◽  
Interior Singularity

In the present era, the competitive producers are forced to use maximally newer advanced technology and its effective fast implementation using various available tools for synthesis of new product requirement. Use of current state of art computer aided technology supports the creation of flexible assemblies and their built up though unified modular approach. The design of robotic mechanism is a complex process involving geometric, kinematic, singularity analyses during its synthesis phase. The present work is aimed at the effective utilization of CAx system Pro/Engineer tools for creation, ease in modification and analysis of spatial parallel manipulator. Three degrees of freedom of 3-PRS parallel manipulator is obtained using mobility analysis. Parallel manipulator with 3-DOF with 3-PRS configuration is investigated. The kinematics simulation of the robot is carried out using mechanism simulation and compared with closed form solutions. The concept of reachable, orientation and dexterous workspace is expressed. Tool tip coordinates obtained through simulation are plotted for workspace development. Inner and outer workspace boundaries are developed and analyzed for four different cases to understand the problem of interior singularity within workspace.

scholarly journals Interior singularity analysis for a 2(3HUS+S) parallel manipulator with descending matrix rank method

2019 ◽  
Vol 16 (1) ◽  
pp. 172988141982684
Author(s):  
Feng Guo ◽  
Gang Cheng ◽  
Zunzhong Zhao
Keyword(s):  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Singular Locus ◽  
Singularity Analysis ◽  
Normal Operation ◽  
Motion Path ◽  
Moving Platforms ◽  
Singular Configuration ◽  
The Relationship ◽  
Interior Singularity

Singularity analysis is one of the basic problems for parallel manipulators. When a manipulator moves in a singular configuration, the motion and transmission performance are poor. In certain serious cases, the normal operation could be damaged. Based on the topology structure and kinematics analysis of a 2(3HUS+S) parallel manipulator, the Jacobian matrices were established. Then, the singular locus surface was obtained by numerical simulation. In addition, the relationship between the motion path curve and the singular locus surface was analyzed. In this study, α, β, and γ are the attitude angles that describe the motion of moving platforms. There is a nonsingular attitude space in singular locus surfaces, and the singular locus surface is a single surface in a small attitude angle range. The nonsingular attitude space increases as the absolute value of γ increases, and singularity could be avoided when γ is large. Furthermore, the motion path curve passes through the singular locus surface two times, and the two intersection points are consistent with the positions where the motion dexterity is equal to zero. This study provides new insights on the singularity analysis of parallel manipulators, particularly for the structure parameter optimization of the nonsingular attitude space.

A note on a paper of Atkinson concerning the asymptotics of an eigenvalue problem with interior singularity

1988 ◽  
Vol 110 (1-2) ◽  
pp. 63-71 ◽  
Author(s):  
B.J. Harris
Keyword(s):  
Eigenvalue Problem ◽  
Asymptotic Form ◽  
Image Position ◽  
Interior Singularity

SynopsisIn [2] Atkinson considers the asymptotic form of the eigenvalues of the linear differentialequationwhere a < 0 < b and y satisfies appropriate conditions at a andb. In particular Atkinson considers where q is singular at 0. In this case q(x) = xK, his results cover the case l ≦ K < . We extend Atkinson's results to cover more singular q, in the power case 1 ≦K <

Unsteady lifting case by means of the interior-singularity panel method

1982 ◽  
Vol 19 (8) ◽  
pp. 634-638 ◽  
Author(s):  
Shi-Jung Chen ◽  
Charles Dalton
Keyword(s):  
Panel Method ◽  
Interior Singularity
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