Abstract
The singularities for a class of kinematically simple 7-jointed revolute manipulators are found. Within the class, unnecessary lengths and 4-jointed spherical groups of joints are avoided, and successive joints are perpendicular or parallel. Four different joint layouts are required to complete this class. The concept of screw reciprocity is used to find the singular (velocity-degenerate) configurations. Reciprocal screw quantities characterizing the lost instantaneous motions are derived.
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Schedule a callMore From: Transactions of the Canadian Society for Mechanical Engineering
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