A prototype parallel manipulator: kinematics, construction, software, workspace results, and singularity analysis

A prototype parallel link manipulator is described. The kinematics of a general parallel link manipulator are discussed. The hardware and software of the prototype manipulator are presented. Some symbolic kinematic results for the prototype are given, along with a discussion of how these results might be used. The workspace of the prototype is analyzed, both by simulation and experimentation. The singularity problem for parallel manipulators is discussed, and a singular configuration for the prototype is shown.<
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