Singularity Analysis of 3-DOF Planar Parallel Mechanisms
نویسندگان
چکیده
This paper presents the results of a systematic study of the singular configurations of 3-DOF planar parallel mechanisms with three identical serial chains. Only prismatic and revolute kinematic pairs are considered. From the point of view of singularity analysis, there are ten different architectures. All of them are examined; the nature of all possible singular configurations are discussed and the singularity loci for a constant orientation of the mobile platform are found. For some architectures, simplified designs with easy to determine singularities are proposed.
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