SINGULARITIES STUDY OF THE 3RTS MANIPULATOR

Claudiu Mihai NEDEZKI

Abstract


This article details how to obtain the type I and II singularities of the 3RTS parallel manipulator. These singularities appear when the determinants of the Jacobian matrices are cancelled. The study of singularities is based on the input-output equations of the manipulator.

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References


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Nedezki, C.M., Trif, A., Kerekes, Gh., THE ANALYSIS OF SINGULARITIES FOR THE 3-RRS SPATIAL PARALLEL MANIPULATOR, Acta Technica Napocensis, ISSN 1221-5872 series: Applied Matematics, Mechanics and Engineering, Vol. 57, Issue IV, pag. 509-514, November, 2014.

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