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On the infinitesimal motion of a parallel manipulator in singular configurations

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1 Author(s)
Merlet, J.-P. ; INRIA, Valbonne, France

The author considers a specific parallel manipulator and determines the features of the infinitesimal motions associated with each of the singular configurations. It is shown that every singular configuration for a MSSM is obtained when the 6 lines associated with the links of the manipulator belong to a linear complex of lines. Consequently, it is known that the corresponding infinitesimal motion is a screw motion. If the complex is singular (as in Hunt's configuration) the pitch of this motion is equal to zero and therefore the resulting motion is a pure rotation around the ISA (which is the line intersecting all 6 lines of the manipulator). If the complex is general, one has determined the ISA and the pitch of the screw motion when the base and mobile plates are parallel

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992