Abstract
Singularities of the configuration space for planar parallel mechanisms involving prismatic joint are investigated using a kinematic constraint map approach. Eliminating pose parameters from the singularity conditions together with the constraint equations leads to Grashof-type conditions. We illustrate the method by the planar RRRP and 3-RPR parallel mechanisms. In the latter case, conditions for higher order singularities are also determined.
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Vahid Amirinezhad, S., Donelan, P. (2019). Kinematic Constraint Maps and C-space Singularities for Planar Mechanisms with Prismatic Joints. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_25
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DOI: https://doi.org/10.1007/978-3-319-93188-3_25
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