THE ANALYSIS OF SINGULARITIES FOR THE 3RRS SPATIAL PARALLEL MANIPULATOR
In this article is studied the singularities of type I and type II for the 3RRS manipulator with 3 degrees of freedom. The calculation of singularities is based on the cancellation of determinants for the Jacobian matrix [A] and [B]. Also, the singularity points of type II were plotted in the manipulator’s workspace.
Key words: parallel manipulator, the meshing method, the Jacobian matrix, the input - output equations, the singularities, degrees of freedom.
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