Abstract
In this paper we analyze singularities of the 3-DOF translational parallel mechanism with three kinematic chains, each consisting of five revolute joints. Both Jacobian and Screw theory methods are used to determine singular points of different types. Constraint singularity is also studied.
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Acknowledgments
This work is supported by Russian Foundation for Basic Research (RFBR) grant #13-08-1205613.
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Laryushkin, P., Glazunov, V., Demidov, S. (2014). Singularity Analysis of 3-DOF Translational Parallel Manipulator. In: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_6
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DOI: https://doi.org/10.1007/978-3-319-07058-2_6
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