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Topological and Kinematic Singularities for a Class of Parallel Mechanisms

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  • Nir Shvalb
  • Moshe Shoham
  • Hagay Bamberger
  • David Blanc

Abstract

We study singularities for a parallel mechanism with a planar moving platform in â„ ð ‘‘ ( ð ‘‘ = 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.

Suggested Citation

  • Nir Shvalb & Moshe Shoham & Hagay Bamberger & David Blanc, 2009. "Topological and Kinematic Singularities for a Class of Parallel Mechanisms," Mathematical Problems in Engineering, Hindawi, vol. 2009, pages 1-12, April.
    • Handle: RePEc:hin:jnlmpe:249349
    DOI: 10.1155/2009/249349
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