SINGULARITY ANALYSIS OF THE HEXAGLIDE-TYPE PARALLEL MECHANISM WITH SIX DEGREES OF FREEDOM

Author:

Laryushkin P. A.

Abstract

In this paper singularity analysis of the 6-DOF mechanism with six identical PUS chains is presented. Bydifferentiating constraint equations and Jacobian analysis parts of the workspace that correspond to singular configurations are found. Closeness to singularity is analysed using velocity and force criteria.

Publisher

Izdatel'skii dom Spektr, LLC

Subject

General Medicine

Reference12 articles.

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