https://github.com/austinvishal/singular

This repository illustrates a tetrahedron based approach to determine the singular configurations of motion simulator platforms
https://github.com/austinvishal/singular

cable-robot computational-geometry kinematics parallel-robot polytope stewart stewart-platform tetrahedron

Last synced: 3 months ago
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This repository illustrates a tetrahedron based approach to determine the singular configurations of motion simulator platforms

• Host: GitHub
• URL: https://github.com/austinvishal/singular
• Owner: austinvishal
• License: mit
• Created: 2024-07-06T18:19:11.000Z (11 months ago)
• Default Branch: main
• Last Pushed: 2024-07-06T19:20:52.000Z (11 months ago)
• Last Synced: 2025-01-22T13:51:24.536Z (5 months ago)
• Topics: cable-robot, computational-geometry, kinematics, parallel-robot, polytope, stewart, stewart-platform, tetrahedron
• Language: MATLAB
• Homepage:
• Size: 12.5 MB
• Stars: 2
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        


Singularity Mockup: Singularity analysis using force pencil characteristic tetrahedron  





V. Ramadoss : Visit my Youtube channel by clicking the video preview below





# Description of the Model

This repository illustrates a characteristic tetrahedron based approach to determine the singular configurations of motion simulator platforms



The 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.

[![Watch more trajectory videos](https://github.com/austinvishal/Singular/blob/main/assets/basefigurepkm.jpg)](https://github.com/austinvishal/Singular/blob/main/videos/singulartetrahedron.mp4)

# Graphic Mockup

A library of graphical and computational tools has been written in order to simplify the analysis and to provide a sophisticated and effective mockup. 





The 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

![](https://github.com/austinvishal/Singular/blob/main/assets/tetrahedronsingular.png)

The degenerated tetrahedron ie plane is shown for the first singular configuration of the parallel robot

![](https://github.com/austinvishal/Singular/blob/main/assets/sing1.jpg)

The degenerated tetrahedron ie plane is shown for the second singular configuration of the parallel robot

![](https://github.com/austinvishal/Singular/blob/main/assets/sing2.jpg)

The degenerated tetrahedron ie plane is shown for the third singular configuration of the parallel robot

![](https://github.com/austinvishal/Singular/blob/main/assets/sing3.jpg)

The degenerated tetrahedron ie plane is shown for the fourth singular configuration of the parallel robot

![](https://github.com/austinvishal/Singular/blob/main/assets/sing4.png)

The degenerated tetrahedron ie plane is shown for the fifth singular configuration of the parallel robot

![](https://github.com/austinvishal/Singular/blob/main/assets/sing5.png)



### Maintainer

This repository is maintained by:

| | |

|:---:|:---:|

| [](https://github.com/austinvishal) | [Vishal Ramadoss](https://github.com/austinvishal) |