Singularity Analysis of CaPaMan: A Three-Degree of Freedom Spatial Parallel Manipulator
نویسندگان
چکیده
CaPaMan (Cassino Parallel Manipulator) is a threedegree of freedom parallel mechanism that has been designed and built at Laboratory of Robotics and Mechatronics in Cassino. In this paper a study of the configuration singularities of the CaPaMan manipulator is presented by considering two different methods: an algebraic formulation and a vector analysis. It will be shown that a formulation can give singularity related to the failure of the kinematic model at particular configurations of the manipulator. It will also be proved that this type of singularity can be avoided by a proper analysis of the problem.
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