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.
|Journal||Mathematical Problems in Engineering|
|State||Published - 2009|
ASJC Scopus subject areas
- Mathematics (all)
- Engineering (all)