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Generation of Singular 6-SPS Parallel Manipulators
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Abstract
A singular 6-SPS parallel manipulator is a 6-SPS parallel manipulator with architecture singularities spanning over the whole workspace. It should be abandoned in the design process. This paper presents a component method for generation of singular 6-SPS parallel manipulators. The proposed method is based on that a 6-SPS parallel manipulator with one or more over-actuated components or singular components must be a singular 6-SPS parallel manipulator. Some classes of singular 6-SPS parallel manipulators can be generated from the generation of over-actuated components or singular components for 6-SPS parallel manipulators. All the over-actuated components for 6-SPS parallel manipulators are generated. The singular LL component is generated after an alternative approach to the configuration analysis of LL component is proposed. At last, new classes of singular 6-SPS parallel manipulators in addition to those already known are generated.
American Society of Mechanical Engineers
Title: Generation of Singular 6-SPS Parallel Manipulators
Description:
Abstract
A singular 6-SPS parallel manipulator is a 6-SPS parallel manipulator with architecture singularities spanning over the whole workspace.
It should be abandoned in the design process.
This paper presents a component method for generation of singular 6-SPS parallel manipulators.
The proposed method is based on that a 6-SPS parallel manipulator with one or more over-actuated components or singular components must be a singular 6-SPS parallel manipulator.
Some classes of singular 6-SPS parallel manipulators can be generated from the generation of over-actuated components or singular components for 6-SPS parallel manipulators.
All the over-actuated components for 6-SPS parallel manipulators are generated.
The singular LL component is generated after an alternative approach to the configuration analysis of LL component is proposed.
At last, new classes of singular 6-SPS parallel manipulators in addition to those already known are generated.
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