319 références sur: Singularités

Bibliography

1

Abbasnejad G., Daniali H.M., and Kazemi S.M.
A new approach to determine the maximal singularity-free zone of 3-RPR planar parallel manipulator.
Robotica, 30(6):1005–1012, Octobre 2012
Keywords: singularity,workspace,planar robot.

2

Agarwal A., Nasa C., and Bandyopadhyay S.
Dynamic singularity avoidance for parallel manipulator using a task-priority based control scheme.
Mechanism and Machine Theory, pages 107–126, 2016.
Keywords: planar robot,singularity,control.

3

Alamdar A. and others .
A geometrical approach for configuration and singularity analysis of a new non-symmetric 2dof 5R spherical parallel manipulator.
Mechanism and Machine Theory, 147, 2020.
Keywords: 2 dof robot,kinematics,singularity,spherical robot,wrist.

4

Alba-Gomez O.G., Pamanes J.A., and Wenger P.
Trajectory planning of a redundant parallel manipulator changing of working mode.
In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
Keywords: redundant robot,singularity,planar robot,trajectory planning.

5

Alici G. and Shirinzadeh B.
Topology optimisation and singularity analysis of a 3-SPS parallel manipulator with a passive constraining spherical joint.
Mechanism and Machine Theory, 39:215–235, 2004.
Keywords: wrist,3 dof robot,singularity,optimal design.

6

Altuzarra O. and others .
A practical procedure to analyze singular configurations in closed kinematic chains.
IEEE Trans. on Robotics, 20(6):929–940, Décembre 2004
Keywords: singularity,planar robot.

7

Altuzarra O. and others .
Motion pattern singularity in lower mobility parallel manipulators.
In ARK, pages 489–496, Ljubljana, 26-29 Juin 2006
Keywords: singularity.

8

Altuzarra O. and others .
Design procedure for cuspidal parallel manipulators.
Mechanism and Machine Theory, 46:97–111, 2011.
Keywords: singularity,workspace,forward kinematics.

9

Amine S. and others .
Singularity analysis of lower-mobility parallel robots with an articulated nacelle.
In ARK, pages 273–282, Piran, 28 Juin-1 Juillet, 2010
Keywords: singularity,4 dof robot.

10

Amine S. and others .
Singularity analysis of the H4 robot using Grassman-Cayley algebra.
Robotica, 30(7):1109–1118, Décembre 2012
Keywords: singularity,singular motion.

11

Amine S. and others .
Singularity conditions of 3T1R parallel manipulators with identical limb structures.
J. of Mechanisms and Robotics, 4(1), 2012.
Keywords: singularity,4 dof robot.

12

Amirinezhad S.V. and Donelan P.
Kinematic constraint maps and C-space singularities for planar mechanisms with prismatic joints.
In ARK, pages 212–220, Bologna, 1-5 Juillet 2018
Keywords: planar robot,singularity.

13

Angeles J., Yang G., and Chen I-M.
Singularity analysis of three-legged, six-dof platform manipulators with URS legs.
IEEE/ASME Trans. on Mechatronics, 8(4):469–475, Décembre 2003
Keywords: singularity.

14

Arakelian V., Briot S., and Glazunov V.A.
Singular positions of a Paminsa parallel manipulator.
J. of Machinery Manufacture and Reliability, (1):62–69, 2006.
Keywords: singularity,4 dof robot.

15

Arakelian V., Briot S., and Glazunov V.A.
Improvement of functional performance of spatial parallel manipulators using mechanisms of variable structure.
In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
Keywords: singularity,workspace.

16

Arakelian V., Briot S., and Glazunov V.
Increase of singularity-free zones in the workspace of parallel manipulators using mechanisms of variable structure.
Mechanism and Machine Theory, 43(9):1129–1140, Septembre 2008
Keywords: singularity,planar robot,workspace.

17

Arsenault M. and Boudreau R.
The synthesis of three-degree-of-freedom planar parallel mechanisms with revolute joints (3-$\underline{R}$RR) for an optimal singularity-free workspace.
J. of Robotic Systems, 21(5):259–274, 2004.
Keywords: planar robot,design,optimal design,singularity,workspace.

18

Arun V. and others .
Determination of the workspace of the 3-dof double-octahedral variable-geometry-truss manipulator.
In 22nd Biennial Mechanisms Conf., pages 493–500, Scottsdale, 13-16 Septembre 1992
Keywords: workspace,truss,3 dof robot,singularity,mechanical architecture,inverse kinematics.

19

Baker J.E.
An analysis of the Bricard linkages.
Mechanism and Machine Theory, 15(4):267–286, 1980.
Keywords: singularity,singular robot.

20

Baker J.E.
On the 6-hinge loops in Bricard's line-symmetric and plane-symmetric octahedra.
In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1494–1498, Milan, 30 Août-2 Septembre, 1995
Keywords: singularity,singular robot.

21

Baker J.E.
On closure modes and singular configurations of kinematic chains.
In ARK, pages 175–182, Caldes de Malavalla, 29 Juin-2 Juillet, 2002
Keywords: singularity.

22

Bandyopadhyay S. and Ghosal A.
Analysis of configuration space singularities of closed-loop mechanisms and parallel manipulators.
Mechanism and Machine Theory, 39(5):519–544, Mai 2004
Keywords: singularity.

23

Baokun L. and others .
Position-singularity analysis of a special class of the Stewart parallel mechanism with two dissimilar semi-symmetrical hexagons.
Robotica, 31(1):123–136, Janvier 2013
Keywords: singularity.

24

Baron N., Philippides A., and Rojas N.
A robust geometric method of singularity avoidance for kinematically redundant planar parallel robot manipulators.
Mechanism and Machine Theory, 151, 2020.
Keywords: planar robot,singularity,redundant robot,trajectory planning.

25

Baron N., Philippides A., and Rojas N.
A geometric method of singularity avoidnce for kinematically redundant planar parallel robot.
In ARK, Bologna, 1-5 Juillet 2018
Keywords: planar robot,singularity,redundant robot,trajectory planning.

26

Basu D. and Ghosal A.
Singularity analysis of platform-type multi-loop spatial mechanisms.
Mechanism and Machine Theory, 32(3):375–389, Avril 1997
Keywords: singularity.

27

Behi F.
Kinematic analysis for a six-degree-of-freedom 3-PRPS parallel mechanism.
Int. J. of Robotics and Automation, 4(5):561–565, Octobre 1988
Keywords: mobility,kinematics,workspace,singularity.

28

Bénéa R.
Contribution à l'étude des robots pleinement parallèles de type 6R-RR-S.
Ph.D. Thesis, Université de Savoie, Annecy, 16 Décembre 1996
Keywords: mechanical architecture,workspace,singularity,dynamics,statics,mobility.

29

Ben-Horin R. and Shoham M.
Singularity analysis of a class of parallel robots based on Grassmann-Cayley algebra.
In Computational Kinematics, Cassino, 4-6 Mai 2005
Keywords: singularity.

30

Ben-Horin R. and Shoham M.
Singularity of a class of Gough-Stewart platforms with three concurrent joints.
In ARK, pages 265–274, Ljubljana, 26-29 Juin 2006
Keywords: singularity.

31

Ben-Horin R. and Shoham M.
Singularity analysis of a class of parallel robots based on Grassmann-Cayley algebra.
Mechanism and Machine Theory, 41(8):958–970, Août 2006
Keywords: singularity.

32

Ben-Horin R. and Shoham M.
Singularity condition of six-degree-of-freedom three-legged parallel robot based on Grassmann-Cayley algebra.
IEEE Trans. on Robotics, 22(4):577–590, Août 2006
Keywords: singularity.

33

Ben-Horin R. and Shoham M.
Singularity of Gough-Stewart platforms with collinear joints.
In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
Keywords: singularity.

34

Ben-Horin P. and others .
Singulab. a graphical user interface for the singularity analysis of parallel robots based on Grassmann-Cayley algebra.
In ARK, pages 49–58, Batz/mer, 23-26 Juin 2008
Keywords: planar robot,forward kinematics,singularity.

35

Ben-Horin R. and Shoham M.
A class of parallel robot practically free of singularities.
ASME J. of Mechanical Design, 130(5):052303–1/9, Mai 2008
Keywords: singularity,6 dof robot.

36

Ben-Horin R. and Shoham M.
Application of Grassmann Cayley algebra to geometrical interpretation of parallel robot singularities.
Int. J. of Robotics Research, 28(1):127–141, Janvier 2009
Keywords: singularity.

37

Berthomieu T.
Étude d'un micro-manipulateur parallèle et de son couplage avec un robot porteur.
Ph.D. Thesis, ENSTAE, Toulouse, 24 Janvier 1989
Keywords: kinematics,dynamics,workspace,mechanical architecture,actuators,6 dof robot,pneumatic,hardware,force feedback,micro-macro robot,singularity,force sensor,orientation workspace.

38

Bhattacharya S., Hatwal H., and Ghosh A.
Comparison of an exact and an approximate method of singularity avoidance in platform type parallel manipulators.
Mechanism and Machine Theory, 33(7):965–974, Octobre 1998
Keywords: singularity,trajectory planning.

39

Bier C., Campos A., and Hesselbach J.
Direct singularity closeness indexes for the Hexa parallel robot.
In ARK, pages 239–246, Ljubljana, 26-29 Juin 2006
Keywords: singularity.

40

Birlescu J. and others .
On the singulrities of a parallel robotic system used for elbow and wrist rehabilitation.
In ARK, Bologna, 1-5 Juillet 2018
Keywords: mechanical architecture,singularity,medical.

41

Bohigas O., Manubens M., and Ros L.
Planning singularity-free force-feasible paths on the Stewart platform.
In ARK, pages 245–253, Innsbruck, 25-28 Juin 2012
Keywords: singularity,trajectory planning.

42

Bohigas O. and others .
Numerical computation of manipulator singularities.
In IEEE Int. Conf. on Robotics and Automation, Saint Paul, 14-18 Mai 2012
Keywords: singularity.

43

Bonev I.A. and Gosselin C.M.
Singularity loci of planar parallel manipulators with revolute joints.
In F.C. Park C.C. Iurascu, editor, Computational Kinematics, pages 291–299. EJCK, 20-22 Mai 2001
Keywords: planar robot,singularity.

44

Bonev I.A. and Zlatanov D.
The mystery of the singular SNU translational parallel robot.
12 Juin 2001
www.parallemic.org/Reviews/Review004.html.
Keywords: singularity,3 dof robot.

45

Bonev I. and Gosselin C.M.
Geometric algorithms for the computation of the constant-orientation workspace and singularity surfaces of a special 6-RUS parallel manipulator.
In ASME Design Engineering Technical Conference, Montréal, 29 Septembre-2 Octobre, 2002
Keywords: workspace,singularity,6 dof robot.

46

Bonev I.A., Zlatanov D., and Gosselin C.
Singularity analysis of 3 dof planar mechanisms via screw theory.
ASME J. of Mechanical Design, 125(3):573–581, Septembre 2003
Keywords: planar robot,singularity.

47

Bonev I. and Gosselin C.M.
Singularity loci of spherical parallel mechanisms.
In IEEE Int. Conf. on Robotics and Automation, pages 2968–2973, Barcelona, 19-22 Avril 2005
Keywords: singularity,3 dof robot.

48

Bonev I., Chablat D., and Wenger P.
Working and assembly modes of the Agile Eye.
In IEEE Int. Conf. on Robotics and Automation, pages 2317–2322, Orlando, 16-18 Mai 2006
Keywords: spherical robot,singularity,forward kinematics.

49

Bordalba R., Porta J.M., and Ros L.
A singularity-robust LQR controller for parallel robots.
In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Madrid, 1-5 Octobre 2018
Keywords: control,singularity.

50

Borràs J., Thomas F., and Torras C.
Architecture singularities in flagged parallel manipulators.
In IEEE Int. Conf. on Robotics and Automation, pages 3844–3850, Pasadena, 19-23 Mai 2008
Keywords: singularity.

51

Borràs J. and Thomas F.
Kinematics of line-plane subassemblies in Stewart platforms.
In IEEE Int. Conf. on Robotics and Automation, pages 4094–4099, Kobe, 14-16 Mai 2009
Keywords: kinematics,singularity.

52

Borràs J., Thomas F., and Torras C.
Straightening-free algorithm for the singularity analysis of Stewart-Gough platform with colinear/coplanr attachments.
In Computational Kinematics, Duisburg, 6-8 Mai 2009
Keywords: singularity.

53

Borràs J., Thomas F., and Torras C.
Singularity invariant leg rearrangements in Stewart-Gough platforms.
In ARK, pages 421–428, Piran, 28 Juin-1 Juillet, 2010
Keywords: singularity.

54

Borràs J., Thomas F., and Torras C.
Architectural singularities of a class of pentapods.
Mechanism and Machine Theory, 46(8):1107–1120, Août 2011
Keywords: singularity,5 dof robot.

55

Borràs J. and Thomas F.
On the primal and dual forms of the Stewart plztform pure condition.
IEEE Trans. on Robotics, 28(6):1205–1215, Décembre 2012
Keywords: singularity.

56

Borràs J., Thomas F., and Torras C.
New geometric approaches to the analysis and design of Stewart–Gough platforms.
IEEE/ASME Trans. on Mechatronics, 19(2):445–455, 2014.
Keywords: singularity.

57

Bouzgarrou C., Koessler A., and Bouton N.
Singularity analysis and reconfiguration mode of the $3-\underline{C}RS$ parallel manipulator.
In IEEE Int. Conf. on Robotics and Automation, Paris, 31 Mai-31 Août, 2020
Keywords: singularity,kinematics,6 dof robot.

58

Brau E., Gosselin F., and Lallemand J-P.
Design of a singularity free architecture for cable driven haptic interfaces.
In rst Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference, 2005.
Keywords: wire robot,singularity,haptic device.

59

Bricard R.
Mémoire sur la théorie de l'octaèdre articulé.
Journal de Mathématiques pures et appliquées, Liouville, tome 3:113–148, 1897.
Keywords: forward kinematics,singular robot,singularity.

60

Bricard R.
Mémoire sur les déplacements à trajectoire sphériques.
Journal de l'École Polytechnique, 11(2):1–96, 1906.
Keywords: forward kinematics,singularity,singular robot.

61

Briot S. and Arakelian V.
Singularity analysis of PAMINSA Manipulators.
In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
Keywords: singularity.

62

Briot S. and Arakelian V.
On the dynamic properties and optimum control of parallel manipulators in the presence of singularity.
In IEEE Int. Conf. on Robotics and Automation, pages 1549–1555, Pasadena, 19-23 Mai 2008
Keywords: singularity,control.

63

Briot S. and Bonev I.A.
Singularity analysis of zero-torsion parallel mechanisms.
In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pages 1952–1957, Nice, France, 22-26 Septembre 2008
Keywords: 3 dof robot,singularity.

64

Briot S. and others .
Self-motions of general $\underline{R}PR$ planar parallel robots.
Int. J. of Robotics Research, 27(7):855–866, Juillet 2008
Keywords: planar robot,mechanical architecture,singularity,kinematics.

65

Briot S. and Arakelian V.
Optimal force generation in parallel manipulators for passing through the singular positions.
Int. J. of Robotics Research, 27(2):967–983, Août 2008
Keywords: singularity,trajectory planning.

66

Briot S. and Arakelian V.
On the dynamic properties of rigid-link flexible-joint parallel manipulators in the presence of type 2 singularities.
J. of Mechanisms and Robotics, 2(2):021004–1/6, Mai 2010
Keywords: forward kinematics,dynamics,singularity,flexible robot,singular motion.

67

Briot S. and others .
Optimal force generation of 3-RRR decoupled planar robots for ensuring unlimited platform rotation.
In RoManSy, Paris, 12-15 Juin 2012
Keywords: planar robot,singularity,decoupled robot.

68

Briot S. and others .
Degeneracy conditions of the dynamic model of parallel robots.
Multibody System Dynamics, 37(4):371–412, 2016.
Keywords: dynamics,singularity.

69

Briot S., Chaumette F., and Martinet P.
Revisiting the determination of the singularity cases in the visual servoing of images points through the concept of hidden robot.
IEEE Trans. on Robotics, 33(3):536–546, Juillet 2017
Keywords: singularity,control,applications.

70

Briot S. and Goldsztejn A.
Singularity conditions for continuum parallel robots.
IEEE Trans. on Robotics, 38(1), Juillet 2022
Keywords: flexible robot,singularity.

71

Briot S. and Merlet J-P.
Direct kinematic singularities and stability analysis of sagging cable-driven parallel robots.
IEEE Trans. on Robotics, 39(3), Juillet 2023

https://hal.science/hal-04007182/file/TechReport_stab_saggingplanarCDPR.pdf, Keywords: wire robot,forward kinematics,singularity.

72

Bu W.
Closeness to singularities of robotic manipulators measure by characteristic angles.
Robotica, 34:2105–2115, 2016.
Keywords: singularity.

73

Bu W.
Closeness to singularities of manipulators based on geometric average normalized volume spanned by weighted screws.
Robotica, 35(7):1616–1626, 2017.
Keywords: singularity.

74

Callegari M. and Marzetti P.
Kinematic characterization of the $3$ $-\underline{P}UU$ parallel robot.
In Proc. Intelligent Manipulation and Grasping, IMG'04, pages 377–382, Genova, 30 Juin-1 Juillet, 2004
Keywords: 3 dof robot,kinematics,singularity.

75

Camacho-Arreguin J. and others .
A novel class of reconfigurable parallel kinematic manipulators: Concepts and Fourier-based singularity analysis.
Mechanism and Machine Theory, 153, 2020.
Keywords: modular robot,singularity,mechanical architecture.

76

Cao Y., Huang Z., and Ge Q.J.
Orientation singularity and orientation capability analyses of the Stewart-Gough manipulator.
In ASME Design Engineering Technical Conference, Long Beach, 24-28 Septembre 2005
Keywords: singularity,performance analysis.

77

Cao Y. and others .
Orientation-singularity and nonsingular orientation-workspace analysis of the semi-regular Stewart-Gough platform manipulator.
Advanced Robotics, 24(15):2119–2135, 2010.
Keywords: singularity,orientation workspace.

78

Cao Y. and others .
Orientation-singularity analysis and orientationability evaluation of a special class of the Stewart–Gough parallel manipulators.
Robotica, 31(8):1361–1372, Décembre 2013
Keywords: singularity,orientation workspace.

79

Carbonari L. and others .
Analysis of kinematics and reconfigurability of a spherical parallel manipulator.
IEEE Trans. on Robotics, 30(6):1541–1547, Décembre 2014
Keywords: spherical robot,3 dof robot,kinematics,kinetics,singularity.

80

Caro S., Wenger P., and Chablat D.
Non-singular assembly mode changing trajectories of a 6-dof parallel robot.
In ASME IDETC/CIE, Chicago, 12-15 Août 2012
Keywords: singularity.

81

Caro S. and others .
A branch and prune algorithm for the computation of generalized aspects of parallel robots.
In Principles and Practice of Constraint Programming, pages 867–882, 2012.
Keywords: singularity.

82

Caro S.
Contributions à la conception et l'analyse de manipulateurs parallèles et de robot d'usinage, 5 Décembre 2014
Habilitation à diriger les recherches, Université de Nantes.
Keywords: kinematics,design,singularity.

83

Carretero J. A., Ebrahimi I., and Boudreau R.
A comparison between two motion planning strategies for kinematically redundant parallel manipulators.
In ARK, pages 243–251, Batz/mer, 23-26 Juin 2008
Keywords: singularity,redundant robot,trajectory planning.

84

Carricato M. and Parenti-Castelli V.
A family of 3-DOF translational parallel manipulators.
ASME J. of Mechanical Design, 125(2):302–307, Juin 2003
Keywords: mechanical architecture,3 dof robot,singularity.

85

Cha S-H., Lasky T.A., and Velinsky S.A.
Singularity avoidance for the 3-rrr mechanism using kinematic redundancy.
In IEEE Int. Conf. on Robotics and Automation, pages 1195–1200, Roma, 10-14 Avril 2007
Keywords: singularity,planar robot,redundant robot.

86

Chablat D. and Wenger P.
Domaine d'unicité pour les robots parallèles.
Research Report 96-13, Ecole Centrale, Nantes, Décembre 1996
Keywords: forward kinematics,singularity,planar robot.

87

Chablat D.
Domain d'unicité et parcourabilité pour les manipulateurs pleinement parallèles.
Ph.D. Thesis, Ecole Centrale, Nantes, 6 Novembre 1998
Keywords: singularity,workspace.

88

Chablat D. and Wenger P.
A new three-dof parallel mechanism: milling machine applications.
In 2nd Chemnitzer Parallelkinematik Seminar, pages 141–152, Chemnitz, 12-13 Avril 2000
Keywords: 3 dof robot,singularity,optimal design,isotropy,workspace,machine-tool.

89

Chablat D., Wenger P., Majou F., and Bonev I.A.
Self motion of a special $3-\underline{R}PR$ planar parallel robot.
In ARK, pages 221–228, Ljubljana, 26-29 Juin 2006
Keywords: planar robot,singularity.

90

Chablat D.
Contribution à l'analyse et à l'optimisation de mécanismes poly-articulés, 31 Mars 2008
Habilitation à diriger les recherches, Université de Nantes.
Keywords: isotropy,design,optimal design,singularity.

91

Chablat D. and others .
Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspace.
In ARK, pages 357–364, Innsbruck, 25-28 Juin 2012
Keywords: planar robot,optimal design,workspace,singularity.

92

Chablat D. and others .
Workspace and joint space analysis of the 3-RPS parallel robot.
In ASME DETC, Buffalo, 2013.
Keywords: planar robot,optimal design,workspace,singularity.

93

Chablat D. and others .
Non-singular assembly mode changing trajectories in the workspace for the $3-R\underline{P}S$ parallel robot.
In ARK, pages 41–49, Ljulbjana, 29 Juin-3 Juillet, 2014
Keywords: singularity.

94

Chablat D., Kong X., and Zhang C.
Kinematics, workspace, and singularity analysis of a parallel robot with five operation modes.
J. of Mechanisms and Robotics, 10, Juin 2018
Keywords: 3 dof robot,kinematics,singularity,workspace,modular robot.

95

Chablat D., Ottaviano E., and Venkateswaran S.
Self-motion of the $3-\underline{PP}S$ parallel robot with Delta-shaped base.
In EUCOMES, pages 317–324, Aachen, 4-6 Septembre 2018
Keywords: singularity,singular motion.

96

Chablat D. and others .
The $3-\underline{PP}PS$ parallel robot with U-shape base, a 6-dof robot with simple kinematics.
In ARK, Bologna, 1-5 Juillet 2018
Keywords: mechanical architecture,kinematics,workspace,singularity.

97

Chablat D., Ottaviano E., and Venkateswaran S.
Self-motion conditions for a $3-\underline{PP}PS$ parallel robot with delta-shaped base.
Mechanism and Machine Theory, 135:109–114, 2019.
Keywords: forward kinematics,hybrid robot,singular motion.

98

Chan V.K. and Ebert-Uphoff I.
Investigation of the deficiencies of parallel manipulators in singular configurations through the jacobian nullspace.
In IEEE Int. Conf. on Robotics and Automation, Seoul, 21-26 Mai 2001
Keywords: singularity,singular motion.

99

Chebbi A-H., Affi Z., and Romdhane L.
Kinetostatic and singularity analyses of the 3-UPU translational parallel robot.
In Computational Kinematics, pages 61–68, Duisburg, 6-8 Mai 2009
Keywords: 3 dof robot,singularity.

100

Chebbi A-H., Affi Z., and Romdhane L.
Prediction of the pose errors produced by joints clearance for a 3-UPU parallel robot.
Mechanism and Machine Theory, 44(9):1768–1783, Septembre 2009
Keywords: singularity,3 dof robot,accuracy,performance analysis,clearance.

101

Chen C-T. and Chi H-W.
Singularity-free trajectory planning of platform-type parallel manipulators for minimum actuating efforts and reactions.
Robotica, 26(3):371–384, Mai 2008
Keywords: singularity,trajectory planning.

102

Chen G. and others .
Configuration bifurcation and self-motion analysis of $3-SPS+1PS$ bionic parallel test platform for hip joint simulator.
Mechanism and Machine Theory, 86:62–72, 2015.
Keywords: 4 dof robot,singularity,medical.

103

Chen I-M. and others .
The management of parallel-manipulator singularities using joint-coupling.
In IEEE Int. Conf. on Robotics and Automation, pages 773–778, Taipei, 14-19 Septembre 2003
Keywords: singularity.

104

Chen I-M. and others .
Shaping singularity loci of parallel manipulators using joint-coupling.
In Int. Conf. on Automation Technology, Taipei, 12-14 Septembre 2003
Keywords: singularity.

105

Chen W-S. and Chen J-K., H.and Liu.
Extreme configuration bifurcation anlysis and link safety length of Stewart platform.
Mechanism and Machine Theory, 43(5):617–626, Mai 2008
Keywords: singularity,design,kinematics.

106

Chen X. and others .
Study on kinematic characteristics and singularities of 3-dof parallel robot.
In 3rd Int. Conf. on Machine Learning and Cybernetics, pages 2870–2873, Shangai, 26-29 Août 2004
Keywords: 3 dof robot,singularity.

107

Chen Z. and others .
Kinematics analysis of a novel 2R1T 3-PUU parallel mechanism with multiple rotation centers.
Mechanism and Machine Theory, 152, 2020.
Keywords: 3 dof robot,mechanical architecture,mobility,singularity,workspace.

108

Choudhury P. and Ghosal A.
Singularity and controllability analysis of parallel manipulators and closed-loop mechanisms.
Mechanism and Machine Theory, 35(10):1455–1479, Octobre 2000
Keywords: singularity.

109

Chung Y-H., Choo J-H, and Lee J-W.
The effect of actuator relocation on singularity, jacobian and kinematic isotropy of parallel robots.
In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pages 2147–2153, Lausanne, Octobre 2002
Keywords: singularity.

110

Clavel R.
DELTA, a fast robot with parallel geometry.
In 18th Int. Symp. on Industrial Robots (ISIR), pages 91–100, Lausanne, 26-28 Avril 1988
Keywords: mechanical architecture,workspace,singularity,3 dof robot.

111

Clavel R.
Une nouvelle structure de manipulateur parallèle pour la robotique légère.
APII, 23(6):501–519, 1989.
Keywords: mechanical architecture,kinematics,4 dof robot,3 dof robot,singularity.

112

Clavel R.
Conception d'un robot parallèle rapide à 4 degrés de liberté.
Ph.D. Thesis, EPFL, Lausanne, 1991.
${\rm n}^\circ$ 925.
Keywords: mechanical architecture,kinematics,singularity,4 dof robot,workspace,kinetics,hardware.

113

Clavel R. and others .
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240

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242

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243

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247

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