Abstract
The mobility analysis of a mechanism aims to find the singularity configurations of mechanism itself and is of basic importance for control of motion. This paper presents the mobility analysis of the three degrees of freedom 3-PSP mechanism. The conditions for the occurrence of architecture singularities and configuration singularities are found. Finally, several singular configurations are also interpreted geometrically.
The authors would like to thank Dr. C. Innocenti for the fruitful discussions. The funding of the Italian MURST is gratefully acknowledged.
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References
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© 2000 Springer-Verlag Wien
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Gregorio, R.D., Parenti-Castelli, V. (2000). Mobility Analysis of the 3-PSP Mechanism. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) Romansy 13. International Centre for Mechanical Sciences, vol 422. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2498-7_11
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DOI: https://doi.org/10.1007/978-3-7091-2498-7_11
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-2500-7
Online ISBN: 978-3-7091-2498-7
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