Topological and Kinematic Singularities for a Class of Parallel Mechanisms

الملخص EN

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.