A Geometrical Approach for the Singularity Analysis of a 3-Rrs Parallel Manipulator
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Abstract
Identifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to identify the singularity manifolds for a 3-RRS parallel manipulator. The singularity surfaces for both inverse and forward kinematics singularities are obtained and plotted.
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Fields of Science
0209 industrial biotechnology, 0203 mechanical engineering, 02 engineering and technology
Citation
Tetik, H, and Kiper, G. (2018). A geometrical approach for the singularity analysis of a 3-RRS parallel manipulator. In Zeghloul S, Romdhane L, Laribi MA (Eds), Computational Kinematics: Proceedings of the 7th International Workshop on Computational Kinematics that was held at Futuroscope-Poitiers, France, in May 2017(pp. 349-356). Cham, Switzerland: Springer
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Q4
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5
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Computational Kinematics: Proceedings of the 7th International Workshop on Computational Kinematics that was held at Futuroscope-Poitiers, France, in May 2017
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349
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356
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