A NEW METHOD FOR LIMB SINGULARITY ANALYSIS OF PARALLEL MANIPULATORS

Singularity Conditions of 3T1R Parallel Manipulators with Identical Limb Structures

Instantaneous kinematics and singularity analysis of three-legged parallel manipulators

Instantaneous kinematics and singularity analysis of a class of three-legged, 6-DOF parallel manipulators are addressed in this paper. A generic method of derivation of reciprocal screw and consequently, the instantaneous kinematics model is presented. The advantage of this formulation is that the instantaneous kinematics model possesses well-defined geometric meaning and algebraic structure. S...

Graphical Singularity Analysis of 3-dof Planar Parallel Manipulators

This paper introduces a new approach to identify singularities of planar parallel manipulators (PPMs). This method is based on Maxwell’s reciprocal figure theory which establishes a duality between self-stress frameworks and reciprocal figures. We use line geometry tools to introduce a new graphical construction called the Mechanism’s Line of action Graph (MLG). The MLG is introduced in order t...

Singularity Analysis, Constraint Wrenches and Optimal Design of Parallel Manipulators

Kinematics, Singularity and Dexterity Analysis of Planar Parallel Manipulators Based on DH Method

Parallel manipulators have separate serial kinematic chains that are linked to the ground and the moving platform at the same time. They have some potential advantages over serial robot manipulators such as high accuracy, greater load capacity, high mechanical rigidity, high velocity and acceleration (Kang et al., 2001; Kang & Mills, 2001). Planar Parallel Manipulators (PPMs), performing two tr...