Indices for Stiffness and Singularity Evaluation for Designing 5R Parallel Manipulators


Parallel manipulators have various advantages over serial robots but they have a few drawbacks mainly referring to stiffness and singularities. Close to or in singular configurations the structure can not resist an external wrench applied to the mobile platform, therefore it may have uncontrolled movements. The study of the stiffness becomes of primary… (More)


2 Figures and Tables