Analysis of constraint equations of the parallel mechanisms with 3 DoF in singular configurations

  • Jacek BałchanowskiEmail author
  • Jarosław Szrek
  • Sławomir Wudarczyk
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The occurrence of singular configurations is one of the features of parallel mechanisms. In singularities, these mechanisms change kinematic and dynamic properties. The issue of determining singular configurations and performing of analysis of constraint equations for a selected system with 3 degrees of freedom (3 DoF) has been discussed in this work. The considerations carried out in the work allowed to demonstrate and to illustrate the possibilities of making additional movements by the mechanisms in singular positions.


parallel mechanisms singular configurations constraints equations 


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Wrocław University of Science and TechnologyWroclawPoland

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