Velocity and Singularity Analysis of a 5-DOF (3T2R) Parallel-Serial (Hybrid) Manipulator

This article presents the velocity and singularity analysis for a five-degree-of-freedom (5-DOF) parallel-serial manipulator. The hybrid structure of manipulator combines tripod-like parallel part serial part, represented as two carriages moving in perpendicular directions. provides its end-effector with 3T2R motion pattern, which includes three independent translations rotations. First, study briefly discusses design results position analysis. These form basis subsequent analysis, performed by screw theory. coordinates unit twists are written each joint, then through reciprocal approach, actuation constraint wrenches obtained simple inspection. Based on these wrenches, paper forms equation shows an example inverse given trajectory. same is solved numerical differentiation to verify proposed approach. Next, investigates singular configurations analyzing wrench system several conditions singularities. Each condition has both symbolic representation, certain visual configuration.