Abstract
In this paper singularity analysis of the 6-DOF mechanism with six identical PUS chains is presented. Bydifferentiating constraint equations and Jacobian analysis parts of the workspace that correspond to singular configurations are found. Closeness to singularity is analysed using velocity and force criteria.
Full Text 
Sign-in/Register to access full text options
Sign-in/Register to access full text options 
Paper version not known
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
