Abstract
This paper presents a method for determining the singular configurations of a 6RSS parallel mechanism based on its kinematic model. The parallel mechanism consists of a fixed plate and a mobile platform connected through six independent kinematic chains. Each of the six kinematic chains has an actuating rotational joint and two spherical joints. The kinematic analysis is based on the kinematic screw method. The resultant motion can thus be represented by composing the kinematic screws of the component motions. Starting from the two Jacobian matrices of the kinematic model, the two types of singularities encountered in parallel mechanisms are identified. Singular configurations are determined by an algorithm which is further used to produce three-dimensional representations of the two matrices determinants. Also, with the same program, it is possible to accurately establish the existence or inexistence of a mechanism for a given position and orientation.
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