Romansy 16 pp 15-22 | Cite as

Design and Singularity Criteria of Parallel Manipulators

  • Victor Glazunov
  • Alexander Kraynev
Part of the CISM Courses and Lectures book series (CISM, volume 487)


This paper addresses the criteria of synthesis and singularity analysis of parallel manipulators. The dynamical decoupling, spatial oscillations as well as kinematic, static and dynamic singularities are considered. The proposed design criteria are intended only for dynamically decoupled manipulators whereas the singularity criteria can be applicable for general parallel manipulators.


Parallel Manipulator Machinery Manufacture Jacobian Matrice Parallel Robot Singularity Criterion 
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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Victor Glazunov
    • 1
  • Alexander Kraynev
    • 1
  1. 1.Mechanical Engineering Research Institute of RASMoscowRussia

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