Topological and kinematic singularities for a class of parallel mechanisms

Nir Shvalb, Moshe Shoham, Hagay Bamberger, David Blanc

Research output: Contribution to journalArticlepeer-review


We study singularities for a parallel mechanism with a planar moving platform in ℝd (d=2,3), with joints which are universal, spherical (spatial case), or rotational (planar case). For such mechanisms, we give a necessary condition for a topological singularity to occur, and describe the corresponding kinematic singularity. An example is provided.

Original languageEnglish
Article number249349
JournalMathematical Problems in Engineering
StatePublished - 2009

ASJC Scopus subject areas

  • General Mathematics
  • General Engineering


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