{"id":21331826,"url":"https://github.com/austinvishal/singular","last_synced_at":"2025-03-16T00:44:10.777Z","repository":{"id":247130994,"uuid":"825085827","full_name":"austinvishal/Singular","owner":"austinvishal","description":"This repository illustrates a tetrahedron based approach to determine the singular configurations of motion simulator platforms","archived":false,"fork":false,"pushed_at":"2024-07-06T19:20:52.000Z","size":13084,"stargazers_count":2,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-01-22T13:51:24.536Z","etag":null,"topics":["cable-robot","computational-geometry","kinematics","parallel-robot","polytope","stewart","stewart-platform","tetrahedron"],"latest_commit_sha":null,"homepage":"","language":"MATLAB","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/austinvishal.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-07-06T18:19:11.000Z","updated_at":"2024-10-29T01:21:59.000Z","dependencies_parsed_at":"2024-07-06T20:05:35.571Z","dependency_job_id":null,"html_url":"https://github.com/austinvishal/Singular","commit_stats":null,"previous_names":["austinvishal/singular"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/austinvishal%2FSingular","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/austinvishal%2FSingular/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/austinvishal%2FSingular/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/austinvishal%2FSingular/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/austinvishal","download_url":"https://codeload.github.com/austinvishal/Singular/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":243809843,"owners_count":20351407,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["cable-robot","computational-geometry","kinematics","parallel-robot","polytope","stewart","stewart-platform","tetrahedron"],"created_at":"2024-11-21T22:44:39.981Z","updated_at":"2025-03-16T00:44:10.759Z","avatar_url":"https://github.com/austinvishal.png","language":"MATLAB","funding_links":[],"categories":[],"sub_categories":[],"readme":"\u003ch1 align=\"center\"\u003e\nSingularity Mockup: Singularity analysis using force pencil characteristic tetrahedron  \u003c/h1\u003e\n\u003cdiv align=\"center\"\u003e\n\u003ci\u003e\nV. Ramadoss : Visit my Youtube channel by clicking the video preview below\n\u003c/i\u003e\n\u003c/div\u003e\n\n# Description of the Model\n\nThis repository illustrates a characteristic tetrahedron based approach to determine the singular configurations of motion simulator platforms\n\n\u003cp align=\"center\"\u003e\n\nThe video below shows a simple trajectory followed by parallel robot showing characteristic tetrahedron and also becomes degenerate i.e becomes a plane and the point lies on the platform when the parallel robot is at singular configuration.\n\n[![Watch more trajectory videos](https://github.com/austinvishal/Singular/blob/main/assets/basefigurepkm.jpg)](https://github.com/austinvishal/Singular/blob/main/videos/singulartetrahedron.mp4)\n\n# Graphic Mockup\n\nA library of graphical and computational tools has been written in order to simplify the analysis and to provide a sophisticated and effective mockup. \n\u003c/p\u003e\n\n\u003cp align=\"center\"\u003e\n\nThe characteristic tetrahedron and apex of tetrahedron are visualized and seen normally for a working configuration of parallel robot (Minimal simplified symmetric manipulator) is shown in the graphic mockup below\n\n![](https://github.com/austinvishal/Singular/blob/main/assets/tetrahedronsingular.png)\n\nThe degenerated tetrahedron ie plane is shown for the first singular configuration of the parallel robot\n\n![](https://github.com/austinvishal/Singular/blob/main/assets/sing1.jpg)\n\nThe degenerated tetrahedron ie plane is shown for the second singular configuration of the parallel robot\n\n![](https://github.com/austinvishal/Singular/blob/main/assets/sing2.jpg)\n\nThe degenerated tetrahedron ie plane is shown for the third singular configuration of the parallel robot\n\n![](https://github.com/austinvishal/Singular/blob/main/assets/sing3.jpg)\n\nThe degenerated tetrahedron ie plane is shown for the fourth singular configuration of the parallel robot\n\n![](https://github.com/austinvishal/Singular/blob/main/assets/sing4.png)\n\nThe degenerated tetrahedron ie plane is shown for the fifth singular configuration of the parallel robot\n\n![](https://github.com/austinvishal/Singular/blob/main/assets/sing5.png)\n\n\n\u003c/p\u003e\n\n### Maintainer\n\nThis repository is maintained by:\n\n| | |\n|:---:|:---:|\n| [\u003cimg src=\"https://github.com/austinvishal.png\" width=\"40\"\u003e](https://github.com/austinvishal) | [Vishal Ramadoss](https://github.com/austinvishal) |\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Faustinvishal%2Fsingular","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Faustinvishal%2Fsingular","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Faustinvishal%2Fsingular/lists"}