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Theoretical Reviews Related to Parallel Mechanisms

Mechanism Synthesis

  The Planar-Spherical Kinematic Bond: Implementation in Parallel Mechanisms

  Enumerates the remarkable properties of the planar-spherical bond and its use for the synthesis of parallel mechanisms. Uses Lie groups.

Singularity Analysis

  Singularity Loci of Planar Parallel Manipulators with Revolute Joints

  Studies the singularity loci curves of planar 3-RRR parallel mechanisms for a constant orientation of the mobile platform. Proves that the polynomial representing these singularity loci for all branches is of degree 42.

  The Mystery of the Singular SNU Translational Parallel Robot

  This note explains the puzzling singularity of a translational parallel manipulator built at Seoul National University. We show that this is, in fact, a new type of singularity which can be referred to as a constraint singularity. This observation highlights the difficulties encountered in singularity analysis of parallel mechanisms with fewer than 6 degrees of freedom.

  Constraint Singularities

  This report is a follow-up of the one explaining the puzzling singularity of a translational parallel manipulator built at Seoul National University. It examines the constraint singularity phenomenon in a more general context.

  Constraint Singularities as Configuration Space Singularities

  This report continues our examination of the phenomenon of constraint singularity. We focus our attention on the fact that constraint singularities always represent singular points of the configuration space of the kinematic chain. As such they separate distinct regions of the configuration space and may allow transitions between dramatically different operation modes. All this is examplified by the fascinating example of a multi-operational parallel mechanism that can undergo a variety of transformation when passing through singular configurations.
Copyright © 2000— by Ilian Bonev Last Update: September 6, 2001