Singularity Analysis of Spherical Parallel Manipulators

  • H. R. M. Daniali
  • P. J. Zsombor-Murray
  • J. Angeles
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 361)


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.


Parallel Manipulator Kinematic Chain Jacobian Matrice Inverse Kinematic Problem Singular Configuration 
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Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • H. R. M. Daniali
    • 1
  • P. J. Zsombor-Murray
    • 1
  • J. Angeles
    • 1
  1. 1.McGill UniversityMontrealCanada

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