Abstract

AbstractThis chapter covers the singularity analysis of parallel mechanisms. The singularities of parallel mechanisms are classified into three types. For the first type of singularity, the mechanism loses 1 or more DOFs, while for the second type of singularity, the mechanism gains 1 or more DOFs. The third type of singularity occurs when the first and second types of singularity occur simultaneously. The physical meanings of each type of singularity are illustrated by two parallel mechanisms including a planar 5R type and a 3-DOF type. What is more important, a new approach to singularity analysis of parallel mechanisms taking into account the motion and force transmissibility is presented based on screw theory.KeywordsSingularity analysisMotion and force transmissibilityScrew theoryParallel mechanism

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