Rationality of the Locus of Singularities of the General Gough-Stewart Platform

IF 1.6 2区数学 Q2 MATHEMATICS, APPLIED

SIAM Journal on Applied Algebra and Geometry Pub Date : 2019-04-03 DOI:10.1137/19m1253277

M. Coste, Seydou Moussa

引用次数: 2

Abstract

We prove that the set of singular configurations of a general Gough Stewart platform has a rational parametrization. We introduce a reciprocal twist mapping which, for a general orientation of the platform, realizes the cubic surface of singularities as the blowing up of a quadric surface in five points.

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通用Gough-Stewart平台奇异轨迹的合理性

证明了一般Gough Stewart平台的奇异构型集具有合理的参数化。我们引入了一种互反扭转映射，对于平台的一般方向，将奇异点的三次曲面实现为五点二次曲面的爆破。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

SIAM Journal on Applied Algebra and Geometry MATHEMATICS, APPLIED-

CiteScore

2.20

自引率

0.00%

发文量