Singularity Analysis of Spherical Parallel Manipulators
The Jacobian matrices of two spherical manipulators of the parallel type, with three degrees of freedom, are derived. One is a spherical 3-legged parallel manipulator; the other, a spherical double-triangular manipulator. A general classification of parallel-manipulator singularities into three groups, which relies on the properties of the Jacobian matrices of the manipulator, is described. Finally, the three types of singularity are identified for the two manipulators.
KeywordsParallel Manipulator Kinematic Chain Jacobian Matrice Inverse Kinematic Problem Singular Configuration
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