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On Singularities of Parallel Manipulators

We consider the kinematic accuracy of manipulators as characterized by the conditioning of the associated Jacobian matrices. In this project the focus is on singularity, which has been extensively studied with respect to serial manipulators. In the case of manipulators with multiple kinematic loops, however, the literature is relatively scarce and more recent. It was found that a classification of singularity pertaining to parallel manipulators, based on the singularities of the two Jacobian matrices that relate input rates to Cartesian speeds, has limited validity. In this project a more general classification scheme was proposed, developed and verified to be applicable to all kinds of multi-loop manipulator.
H.R. Mohammadi Daniali, P. Zsombor-Murray, J. Angeles

Thierry Baron
Mon Nov 13 10:43:02 EST 1995