Singular configurations and direct kinematics of a new parallel manipulator

N. Mouly, J.-P. Merlet
Proceedings 1992 IEEE International Conference on Robotics and Automation  
We present in this paper a new mechanical architecture for a parallel manipulator. We address the problem of the determination of the singular configurations of this architecture. Then we show that the direct kinematic problem has at most 16 solutions and exhibit an algorithm to find all the solutions.
doi:10.1109/robot.1992.220316 dblp:conf/icra/MoulyM92 fatcat:2crrbmvmqfhpjpa2aep3q7upy4