... Jacobian matrix, a statistical method, and a geometric method. The PMs only need to translate or rotate once to move from the initial configuration to the final configuration, which allows for easy control of speeds. The relationship between mechanism parameters and singularity is analyzed. A speed control...

...Qimi Jiang; Clément M. Gosselin The maximal singularity-free workspace of parallel mechanisms is a desirable criterion in robot design. However, for a 6DOF parallel mechanism, it is very difficult to find an analytic method to determine the maximal singularity-free workspace around a prescribed...

... are used for determining the instantaneous center of rotation for the second one of them. The two extremal points on the curve with respect to the instantaneous center are recognized as singular points. The chronological ordering of these singular points is used to generate the two envelope curves, which...

... subgroup are obtained by implementing serial arrays of 1DOF Reuleaux pairs or hinged parallelograms. In total, five distinct mechanical generators of Y motion are revealed and seven ones having at least one parallelogram are also derived from them. In order to avoid the singularity that may occur...

...Davide Paganelli Singularities form surfaces in the jointspace of a serial manipulator. Paï and Leu ( Paï and Leu, 1992, IEEE Trans. Rob. Autom., 8, pp. 545–559 ) introduced the important notion of generic manipulator, the singularity surfaces of which are smooth and do not intersect with each...

... are performed and the singular and isotropic configurations are identified afterward. Moreover, the mechanism design to eliminate all singularities and generate an isotropic manipulator has been presented. With the variation on architectural parameters, the reachable workspace of the manipulator is generated...

...Raffaele Di Gregorio; Vincenzo Parenti-Castelli The occurrence of singular configurations in parallel mechanisms must be avoided during motion since the actuators cannot control motion even in the neighborhood of these configurations. As a consequence, the knowledge of the singular configurations...