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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

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

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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) |