Application of line geometry and linear complex approximation to singularity analysis of the 3-DOF CaPaMan parallel manipulator

  title={Application of line geometry and linear complex approximation to singularity analysis of the 3-DOF CaPaMan parallel manipulator},
  author={Alon Wolf and Erika Ottaviano and Moshe Shoham and Marco Ceccarelli},
This paper analyzes the singularities of a three degree of freedom (DOF) spatial parallel manipulators utilizing line geometry and linear complex approximation. First, the 6 · 6 matrix, mapping external wrenches acting on the moving platform to internal forces/moments at the manipulator s joints, is derived as a set of six governing lines. By analyzing the dependencies of these lines, all singular configurations of the manipulator are obtained. Then, the closest linear complex to these six… CONTINUE READING
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