This paper presents the results of a detailed study of the singular configurations of 3-DOF planar parallel mechanisms with three identical legs. Only prismatic and revolute joints are considered. From the point of view of singularity analysis, there are ten different architectures. All of them are examined in a compact and systematic manner using planar screw theory. The nature of each possible singular configuration is discussed and the singularity loci for a constant orientation of the mobile platform are obtained. For some architectures, simplified designs with easy to determine singularities are identified.
Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received July 2001; revised October 2002. Associate Editor: D. C. H. Yang.
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Bonev , I. A., Zlatanov , D., and Gosselin, C. M. (September 4, 2003). "Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory ." ASME. J. Mech. Des. September 2003; 125(3): 573–581. https://doi.org/10.1115/1.1582878
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