Graphical user interface for the singularity analysis of lower-mobility parallel manipulators

StÉphane Caro; Latifah Nurahmi; Philippe Wenger

doi:10.1007/978-3-319-09411-3_3

Graphical user interface for the singularity analysis of lower-mobility parallel manipulators

StÉphane Caro^*, Latifah Nurahmi, Philippe Wenger

^*Corresponding author for this work

CNRS

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a new graphical user interface is developed for the singularity analysis of lower-mobility parallel manipulators. The algorithm used for this tool is based upon the Grassmann-Cayley Algebra in addition to the concept of wrench graph to provide a simplified expression of the superbracket decomposition. Then, using the appropriate geometric incidences, the superbracket expression will be transformed into a geometric statement characterizing the singularity conditions of the manipulators. In this graphical user interface, useful options are introduced to better guide the user in the formulation of the superbracket and the interpretation of the singularities.

Original language	English
Title of host publication	New Trends in Mechanism and Machine Science - From Fundamentals to Industrial Applications
Editors	Fernando Viadero, Paulo Flores
Publisher	Kluwer Academic Publishers
Pages	21-30
Number of pages	10
ISBN (Electronic)	9783319094106
DOIs	https://doi.org/10.1007/978-3-319-09411-3_3
Publication status	Published - 2015
Externally published	Yes
Event	5th European Conference on Mechanism Science, EUCOMES 2014 - Guimarães, Portugal Duration: 16 Sept 2014 → 19 Sept 2014

Publication series

Name	Mechanisms and Machine Science
Volume	24
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	5th European Conference on Mechanism Science, EUCOMES 2014
Country/Territory	Portugal
City	Guimarães
Period	16/09/14 → 19/09/14

Keywords

Graphical-user interface
Grassmann-Cayley algebra
Parallel manipulators
Singularity

Access to Document

10.1007/978-3-319-09411-3_3

Cite this

Caro, S., Nurahmi, L., & Wenger, P. (2015). Graphical user interface for the singularity analysis of lower-mobility parallel manipulators. In F. Viadero, & P. Flores (Eds.), New Trends in Mechanism and Machine Science - From Fundamentals to Industrial Applications (pp. 21-30). (Mechanisms and Machine Science; Vol. 24). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-09411-3_3

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title = "Graphical user interface for the singularity analysis of lower-mobility parallel manipulators",

abstract = "In this paper, a new graphical user interface is developed for the singularity analysis of lower-mobility parallel manipulators. The algorithm used for this tool is based upon the Grassmann-Cayley Algebra in addition to the concept of wrench graph to provide a simplified expression of the superbracket decomposition. Then, using the appropriate geometric incidences, the superbracket expression will be transformed into a geometric statement characterizing the singularity conditions of the manipulators. In this graphical user interface, useful options are introduced to better guide the user in the formulation of the superbracket and the interpretation of the singularities.",

keywords = "Graphical-user interface, Grassmann-Cayley algebra, Parallel manipulators, Singularity",

author = "St{\'E}phane Caro and Latifah Nurahmi and Philippe Wenger",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 5th European Conference on Mechanism Science, EUCOMES 2014 ; Conference date: 16-09-2014 Through 19-09-2014",

year = "2015",

doi = "10.1007/978-3-319-09411-3_3",

language = "English",

series = "Mechanisms and Machine Science",

publisher = "Kluwer Academic Publishers",

pages = "21--30",

editor = "Fernando Viadero and Paulo Flores",

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}

Caro, S, Nurahmi, L & Wenger, P 2015, Graphical user interface for the singularity analysis of lower-mobility parallel manipulators. in F Viadero & P Flores (eds), New Trends in Mechanism and Machine Science - From Fundamentals to Industrial Applications. Mechanisms and Machine Science, vol. 24, Kluwer Academic Publishers, pp. 21-30, 5th European Conference on Mechanism Science, EUCOMES 2014, Guimarães, Portugal, 16/09/14. https://doi.org/10.1007/978-3-319-09411-3_3

Graphical user interface for the singularity analysis of lower-mobility parallel manipulators. / Caro, StÉphane; Nurahmi, Latifah; Wenger, Philippe.
New Trends in Mechanism and Machine Science - From Fundamentals to Industrial Applications. ed. / Fernando Viadero; Paulo Flores. Kluwer Academic Publishers, 2015. p. 21-30 (Mechanisms and Machine Science; Vol. 24).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Graphical user interface for the singularity analysis of lower-mobility parallel manipulators

AU - Caro, StÉphane

AU - Nurahmi, Latifah

AU - Wenger, Philippe

N1 - Publisher Copyright: © Springer International Publishing Switzerland 2015.

PY - 2015

Y1 - 2015

N2 - In this paper, a new graphical user interface is developed for the singularity analysis of lower-mobility parallel manipulators. The algorithm used for this tool is based upon the Grassmann-Cayley Algebra in addition to the concept of wrench graph to provide a simplified expression of the superbracket decomposition. Then, using the appropriate geometric incidences, the superbracket expression will be transformed into a geometric statement characterizing the singularity conditions of the manipulators. In this graphical user interface, useful options are introduced to better guide the user in the formulation of the superbracket and the interpretation of the singularities.

AB - In this paper, a new graphical user interface is developed for the singularity analysis of lower-mobility parallel manipulators. The algorithm used for this tool is based upon the Grassmann-Cayley Algebra in addition to the concept of wrench graph to provide a simplified expression of the superbracket decomposition. Then, using the appropriate geometric incidences, the superbracket expression will be transformed into a geometric statement characterizing the singularity conditions of the manipulators. In this graphical user interface, useful options are introduced to better guide the user in the formulation of the superbracket and the interpretation of the singularities.

KW - Graphical-user interface

KW - Grassmann-Cayley algebra

KW - Parallel manipulators

KW - Singularity

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DO - 10.1007/978-3-319-09411-3_3

M3 - Conference contribution

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SP - 21

EP - 30

BT - New Trends in Mechanism and Machine Science - From Fundamentals to Industrial Applications

A2 - Viadero, Fernando

A2 - Flores, Paulo

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T2 - 5th European Conference on Mechanism Science, EUCOMES 2014

Y2 - 16 September 2014 through 19 September 2014

ER -

Graphical user interface for the singularity analysis of lower-mobility parallel manipulators

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