000009165 001__ 9165 000009165 005__ 20141204092414.0 000009165 04107 $$aeng 000009165 046__ $$k12/05/2014 000009165 100__ $$aBřezina, L. 000009165 24500 $$aSingular cases of planar and spatial parallel manipulator 000009165 24630 $$n18.$$pEngineering Mechanics 2012 000009165 260__ $$bInstitute of Theoretical and Applied Mechanics, AS CR, Prague 000009165 506__ $$arestricted 000009165 520__ $$2eng$$aSingularities are places in the workspace of the robot where kinematic equations have no solution. It is of course desired to minimize number of such places in the workspace. The analysis of these places is then important from the construction point of view where singularities might be suppressed by suitable changes in design of construction. The paper deals with description of singular cases types of a parallel manipulator and their analysis via analysis of the determinants of the system Jacobians. This is demonstrated for two examples – planar and spatial parallel manipulator. 000009165 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb. 000009165 653__ $$aparallel manipulator, singular cases, Jacobian matrices 000009165 7112_ $$aEngineering Mechanics 2012$$cSvratka (CZ)$$d12/05/2014 - 15/05/2014$$gEM2012 000009165 720__ $$aBrezina, L.$$iHoufek, L. 000009165 8560_ $$ffischerc@itam.cas.cz 000009165 8564_ $$s633050$$uhttps://invenio.itam.cas.cz/record/9165/files/061_Brezina_L-FT.pdf$$yOriginal version of the author's contribution as presented on CD, paper (No. 061). 000009165 962__ $$r8924 000009165 980__ $$aPAPER