Singularity analysis of a 5-bar planar parallel mechanism based on a geometric measures

Abstract

This paper proposes a new method for determining the singularity of a 5-bar planar PKM with revolute joints by taking geometric measures. A distinct feature of the proposed method is that it uses perpendicular distances between end-effectors, actuators, and determine singularities based on screw theory. The proposed method is intuitive and simple and thus… (More)
DOI: 10.1109/ISR.2013.6695723

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Cite this paper

@article{Choi2013SingularityAO, title={Singularity analysis of a 5-bar planar parallel mechanism based on a geometric measures}, author={Jung-Hyun Choi and Chan Lee and Ma-Eum Kim and Jehwon Lee}, journal={IEEE ISR 2013}, year={2013}, pages={1-3} }