Uncertainty configurations of parallel manipulators

Geometric Design of Linkages

“…He was able to identify these configurations by inspection of the various ways in which the axes of the linear actuators could form linearly dependent sets of lines. A similar approach was used by Collins and Long [14] to analyze a pantographbased hand-controller; also see the study by Notash [91] of uncertainty configurations in parallel manipulators.…”

A methodology for actuator failure recovery in parallel manipulators

“…Mechanism and Machine Theory j o u r n a l h o m e p a g e : w w w. e l s ev i e r. c o m / l o c a t e / m e c h m t singularity configurations of parallel manipulators [10,11]. In [12] the task space was partitioned into major and secondary tasks in order to complete the major task and optimize a secondary goal such as actuator fault tolerance.…”

“…If the lost mobile platform wrench cannot be fully recovered F R ⊥ = I−J T f J #T f F≠0, and the recovered portion of wrench will be calculated using Eq. (10).…”

Failure recovery for wrench capability of wire-actuated parallel manipulators

“…7 Redundancy in actuation has been proposed to reduce the uncertainty/singularity configurations of parallel manipulators. 8,9 In ref. [10] the task space was partitioned into major and secondary tasks in order to complete the major task and optimize a secondary goal such as actuator fault tolerance.…”