Abstract
Parallel manipulators which are singular with respect to the Sch¨onflies motion group X(a) are called Schönflies-singular, or more precisely X(a)-singular, where a denotes the rotary axis. A special class of such manipulators are architecturally singular ones because they are singular with respect to any Schönflies group. Another remarkable set of Schönflies-singular planar Stewart Gough platforms was already presented by the author in [5]. Moreover the main theorem on these manipulators was given in [6]. In this paper we give a complete discussion of the remaining special cases which also include so-called Cartesian-singular planar manipulators as byproduct.
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Nawratil, G. (2010). Special Cases of Schönflies-Singular Planar Stewart Gough Platforms. In: Pisla, D., Ceccarelli, M., Husty, M., Corves, B. (eds) New Trends in Mechanism Science. Mechanisms and Machine Science, vol 5. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9689-0_6
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DOI: https://doi.org/10.1007/978-90-481-9689-0_6
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