Sentence examples for a singular configuration from inspiring English sources
The variable stiffness in this design is realized by the prestress stiffness of a cable-based mechanism at a singular configuration.
If (J_{h_i}) is not full rank, the manipulator may be in a singular configuration and needs a special treatment, which is beyond the scope of this paper.
It is well known that a parallel mechanism at a singular configuration can gain one or more degrees of freedom instantaneously, and at such a configuration it cannot resist externally applied force/torque along certain directions.
We indicate the conditions under which the robot becomes a singular configuration by analyzing the kinematic model, and design a trajectory tracking controller that can avoid the singular configuration using kinematic redundancy.
We found that often it is not possible to arbitrarily control all degrees of freedom of Resch's origami structures, since a halt in the folding/deployment path can occur, with the structure locked in a singular configuration.
Because the high force characteristics in a singular configuration change dramatically for a near singular workspace, the thickness of the plate is limited for a specific toggle-linkage mechanism.
Generally, in toggle-linkage mechanisms, a near singular configuration is used to obtain a high clamping force.
a Workspace, b Singular configuration I, c Singular configuration II, d P1 and P2 reach their minimum stroke, e P1 and P2 reach their maximum stroke, f Rotational range with t = −320 mm, g Rotational range with t = −240 mm.
Table 1 Comparison of axis configurations about offset between axes and the distance of standard working posture from singular configuration Items A: Pitch and yaw axes B: Yaw and roll axes C: 2 bending axes Offset between axes △ 〇 × Distance from singular configuration 〇 × 〇 A. The offset is difficult to eliminate by simple mechanism but can be reduced.
The results illustrate the feasibility of the proposed algorithm to find all singular configurations of the 2-PUU_2-PUS manipulator.
This key idea is used, with a Stewart Platform, in a near-singular configuration, to design a directionally sensitive force torque sensor.
