Singular cases of the planar parallel robot

Abstract eng:
Singular cases - singularities of the robot are defined as positions in which the robot loses kinematic definiteness. The loss appears in both direct and inverse kinematic transformation. Existence of the singularities in the robot workspace causes sharp changes in profiles of the velocities and accelerations and changes in force effects. The objective of this paper is to investigate singularities (singular positions) of one parallel robot structure and to simply classify such singular cases. The analysis of the singularities is important for real application, i.e. for control design, which should ensure effective and safe cooperation of all drives - actuators in the robot structure.

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