11 citations · 25 across the 21 of their papers we have counts for
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Architecture Singularity Distance Computations for Linear Pentapods
Aditya Kapilavai, Georg Nawratil
The kinematic/robotic community is not only interested in measuring the closeness of a given robot configuration to its next singular one but also in a geometric meaningful index e…
Singularity Distance Computations for 3-RPR Manipulators Using Intrinsic Metrics
Aditya Kapilavai, Georg Nawratil
We present an efficient algorithm for computing the closest singular configuration to each non-singular pose of a 3-RPR planar manipulator performing a 1-parametric motion. By cons…
Singularity Distance Computations for 3-RPR Manipulators Using Extrinsic Metrics
Aditya Kapilavai, Georg Nawratil
It is well-known that parallel manipulators are prone to singularities. However, there is still a lack of distance evaluation functions, referred to as metrics, for computing the d…
Linear Pentapods with a Simple Singularity Variety
Arvin Rasoulzadeh, Georg Nawratil
There exists a bijection between the configuration space of a linear pentapod and all points located on the singular quadric $Γ: u^2+v^2+w^2=…
Kinematically Redundant Octahedral Motion Platform for Virtual Reality Simulations
Georg Nawratil, Arvin Rasoulzadeh
We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on th…
Rational Parametrization of Linear Pentapod's Singularity Variety and the Distance to it
Arvin Rasoulzadeh, Georg Nawratil
A linear pentapod is a parallel manipulator with five collinear anchor points on the motion platform (end-effector), which are connected via extendible legs to the base. This manip…
Mobile Icosapods
Matteo Gallet, Georg Nawratil, Josef Schicho +1
Pods are mechanical devices constituted of two rigid bodies, the base and the platform, connected by a number of other rigid bodies, called legs, that are anchored via spherical jo…
Addendum to Pentapods with Mobility 2
Georg Nawratil, Josef Schicho
In a foregoing publication the authors studied pentapods with mobility 2, where neither all platform anchor points nor all base anchor points are located on a line. It turned out t…
On the line-symmetry of self-motions of linear pentapods
Georg Nawratil
We show that all self-motions of pentapods with linear platform of Type 1 and Type 2 can be generated by line-symmetric motions. Thus this paper closes a gap between the more than…
Self-motions of pentapods with linear platform
Georg Nawratil, Josef Schicho
We give a full classification of all pentapods with linear platform possessing a self-motion beside the trivial rotation about the platform. Recent research necessitates a contempo…
Pentapods with Mobility 2
Georg Nawratil, Josef Schicho
In this paper we give a full classification of all pentapods with mobility 2, where neither all platform anchor points nor all base anchor points are located on a line. Therefore t…
Bond theory for pentapods and hexapods
Matteo Gallet, Georg Nawratil, Josef Schicho
This paper deals with the old and classical problem of determining necessary conditions for the overconstrained mobility of some mechanical device. In particular, we show that the…