Singularity analysis of the HALF parallel manipulator with revolute actuators
نویسندگان
چکیده
This paper concerns the singuIariQ of the HALF parallel manipulato,: a novel three degrees of feedom (DoFs) mechanism, with revolute actuators. The parallel manipulato,: pmposed previousb, consists of a base plate, a movable platform, and three connecting legs. It has the advantages in terms of only single-DoF joints and high rotational capability The parallef manipulator has wide application in the fields of industrial robots, simulators, parallel machine tools and any other manipulating devices that high rotational capability is required. The inverse kinematics problem and Jacobian matrices are recalledfirstly. And then all possible singnlarities of the manipulator are analyzed in detail. The results ofthe paper are very useful for the apprehension and the application ofthe manipulator:
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Representation of the Singularity Loci of a Special Class of Spherical 3-dof Parallel Manipulator with Revolute Actuators
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