The 033(6R) structural group existence condition in real field

Abstract

This paper proposes an approach to identify and study the critical configurations of the 6R (033) structural group, based on an new idea, similar to the case of dyad groups. Starting up from the idea that the critical configurations of a structural group correspond to the singularities of the equation system, modeling the velocity problem and the critical positions are obtained when the lines through the binary link joints are concurrent in a point or are parallel. The velocity equation system for the case of 0/3/3 group with revolute joints, in conditions that the (6x6) system determinant equals zero.