Abstract
In the classification problem of architecture singular parallel manipulators there is a qualitative difference between the planar and non-planar cases. The classification of planar ones was already given in (Karger, Husty, 1997), this contribution is devoted to the non-planar case. It is conjectured that non-planar architecture singular parallel manipulators consist (up to two trivial cases) of degenerated parallel manipulator to which arbitrary legs up to number six are added. A list of degenerated parallel manipulators can be seen in Fig. 2.
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© 1998 Springer Science+Business Media Dordrecht
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Karger, A. (1998). Architecture Singular Parallel Manipulators. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_45
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DOI: https://doi.org/10.1007/978-94-015-9064-8_45
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