Singularity Analysis of a 3-rrrr Redundant Spherical Parallel Manipulator

نویسندگان

  • Soheil Zarkandi
  • Mohammad Reza Esmaili
چکیده

ABSTRACT Study of parallel manipulators highlights the importance of identifying singular configurations (singularities) during the design, and of avoiding them during the operation; because in these configurations the instantaneous kinematics of the manipulator becomes indeterminate. This paper focuses on the determination of singular configurations of a kinematically redundant 3-RRRR spherical parallel manipulator while R and R denote the actuated and unactuated revolute joints respectively. Also it is shown how redundancy can help to avoid these singularities.

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تاریخ انتشار 2010