Singularity analysis of CaPaMan: A three-degree of freedom spatial parallel manipulator

E. Ottaviano, C.M. Gosselin, M. Ceccarelli
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)  
CaPaMan (Cassino Parallel Manipulator) is a threedegree of freedom parallel mechanism that has been designed and built at Laboratory of Robotics and Mechatronics in Cassino. In this paper a study of the configuration singularities of the CaPaMan manipulator is presented by considering two different methods: an algebraic formulation and a vector analysis. It will be shown that a formulation can give singularity related to the failure of the kinematic model at particular configurations of the
more » ... pulator. It will also be proved that this type of singularity can be avoided by a proper analysis of the problem.
doi:10.1109/robot.2001.932789 dblp:conf/icra/OttavianoGC01 fatcat:yavnbwy6p5hbjk5zmhirtnpzwa