Singularity analysis of zero-torsion parallel mechanisms

S. Briot, I.A. Bonev
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents the singularity analysis of four 3-DOF symmetric zero-torsion parallel mechanisms. These mechanisms are composed of three identical legs ending with a spherical joint that is constrained to move in one of three equally spaced plane intersecting at one line. The computation of the singularity loci is based on the degeneracy of the system of screws applied on the platform by the legs. The whole study is based on the use of a special orientation representation, previously
more » ... n, previously introduced under the name of Tilt-and-Torsion angles. This representation is briefly introduced. Then the interdependence between the Cartesian coordinates of the general class of parallel mechanisms is derived. Finally, the singularity loci are derived and the size of the workspace taking into account all singular configurations is shown.
doi:10.1109/iros.2008.4650574 dblp:conf/iros/BriotB08 fatcat:y2tag3wc2bavhe5ogmwscsdi5y