Architecture singularities of platform manipulators
- 10 December 2002
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1542-1547 vol.2
- https://doi.org/10.1109/robot.1991.131835
Abstract
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.Keywords
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