A Geometrical Approach for the Singularity Analysis of a 3-RRS Parallel Manipulator

  • Halil Tetik
  • Gokhan Kiper
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 50)


Identifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to identify the singularity manifolds for a 3-RRS parallel manipulator. The singularity surfaces for both inverse and forward kinematics singularities are obtained and plotted.


Parallel manipulators Jacobian analysis Singularity analysis Singularity surfaces 



The authors acknowledge the discussions with Prof. Sandipan Bandyopadhyay from IIT Madras, India.


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringIzmir Institute of TechnologyIzmirTurkey

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