Abstract
The aim of this paper is to present the workspace and singularity analysis of a parallel structure that can be used for complex operations such as micro-assembly, electronic circuit testing or for industrial laser cutting or manufacturing. Starting from the inverse geometrical model of the robot, its analytical workspace is determined. A brief look at different types of singularity points is presented. Conclusions and references are presented at the end of the paper.
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Acknowledgments
This paper was supported by the project “Doctoral studies in engineering sciences for developing the knowledge based society-SIDOC” contract no. POSDRU/88/1.5/S/60078, “Development and support of multidisciplinary postdoctoral programmes in major technical areas of national strategy of RDI” 4D-POSTDOC, POSDRU/89/1.5/S/52603, both co-funded from European Social Fund through Sectorial Operational Program Human Resources 2007–2013 and Scopes International Grant IZ74Z0-137361 entitled Creative Alliance in Research and Education focused on Medical and Service Robotics (CARE-Robotics).
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Dadarlat, R., Plitea, N., Konya, B., Vaida, C., Pisla, D. (2013). Workspace and Singularities Analysis of a 6-DOF Parallel Mechanism with Two Kinematic Chains for Platform Guidance. In: Viadero, F., Ceccarelli, M. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 7. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4902-3_4
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DOI: https://doi.org/10.1007/978-94-007-4902-3_4
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