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Singularity analysis of a class of composite serial in-parallel robots

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2 Author(s)
N. Simaan ; Dept. of Mech. Eng., Technion-Israel Inst. of Technol., Haifa, Israel ; M. Shoham

This paper presents the singularity analysis of a family of 14 composite serial in-parallel six degree-of-freedom robots, having a common parallel sub-mechanism. The singular configurations of this class of robots are obtained by applying line geometry methods to a single, augmented Jacobian matrix whose rows are Plucker coordinates of the lines governing the sub-mechanism motion. It is shown that this family of robots possesses three general parallel singularities that are attributed to the general complex singularity. The results were verified experimentally on a prototype of a composite serial in-parallel robot that was synthesized and constructed for use in medical applications

Published in:

IEEE Transactions on Robotics and Automation  (Volume:17 ,  Issue: 3 )