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Architecture singularities of platform manipulators

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2 Author(s)
Ma, O. ; Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada ; Angeles, J.

The architecture singularity of platform manipulators is considered with reference to a class of six-DOF (degree-of-freedom) parallel manipulators. It is pointed out that an architecture singularity usually spans the whole workspace or a significant part thereof, which makes it very difficult to implement control or singularity-avoidance strategies. Several groups of singular architectures are reported, with comprehensive theoretical proofs. This work can serve as a guide for the optimum design of parallel manipulators in the sense of achieving optimum kinematic and force-transmission performances

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991

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