Abstract
Reaching a desired spatial position and ensuring a highmanipulability is an important issue in the design of roboticmanipulators. For parallel mechanisms the manipulability highly dependson their actual configurations. The manipulability can be described byseveral measures each having a different sensitivity to singularconfigurations of the structure. Mathematical singularities caused bythree-parametric representation of the rotation group SO(3)can be avoided using a four-parametric description of rotations.A parallel mechanism is a multibody system subjected to additionalconstraints, it is a constrained mechanical system. In ageneral approach the kinematic relations of parallel manipulators aregiven and applied for determining the reachable workspace and thekinematic and elastic stiffness based on the manipulator Jacobian.Manipulator singularities are classified and the behavior of theintroduced manipulability measures is analyzed. The considerations areexemplified on a classical Hexapod structure and a Triplanar robot.
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