Representation of the Singularity Loci of a Special Class of Spherical 3-dof Parallel Manipulator with Revolute Actuators
نویسندگان
چکیده
It is well known that singular configurations are an inherent nature of mechanical systems and have important influences on their properties. Therefore, these special configurations of the system are usually avoided in design and application of mechanisms. For simple 2-DOF and 3-DOF planar manipulators, the singularity loci have been obtained in [1, 2]. For spherical 3DOF parallel manipulators with prismatic actuators, the expression for the singularity loci has been provided in [3]. In this paper, the representation of the singularity loci of a spherical 3-DOF parallel manipulator with revolute actuators will be studied. According to the analysis presented in [4], there are three types of singularities for parallel manipulators. For the type of manipulator studied here, the simple expression for the singularity conditions is derived by means of the kinematic solutions. These expressions are then used to construct the singularity loci.
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