A Geometrical Approach for the Singularity Analysis of a 3-RRS Parallel Manipulator
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.
KeywordsParallel manipulators Jacobian analysis Singularity analysis Singularity surfaces
The authors acknowledge the discussions with Prof. Sandipan Bandyopadhyay from IIT Madras, India.
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