Kinematic Constraint Maps and C-space Singularities for Planar Mechanisms with Prismatic Joints

Abstract

Singularities of the configuration space for planar parallel mechanisms involving prismatic joint are investigated using a kinematic constraint map approach. Eliminating pose parameters from the singularity conditions together with the constraint equations leads to Grashof-type conditions. We illustrate the method by the planar RRRP and 3-RPR parallel mechanisms. In the latter case, conditions for higher order singularities are also determined.