IEEE - Institute of Electrical and Electronics Engineers, Inc. - Singularity Analysis of a 6-PRRS Parallel Robot Based on Geometrical Method

Sixth World Congress on Intelligent Control and Automation

Author(s): Yubin Liu ; Yongsheng Gao ; Jie Zhao ; Hegao Cai ; Yonggang Yang
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2006
Conference Location: Dalian, China
Conference Date: 21 June 2006
Volume: 2
Page(s): 9,217 - 9,221
ISBN (Paper): 1-4244-0332-4
DOI: 10.1109/WCICA.2006.1713784
Regular:

Three types of singularities have been analyzed for a 6-PRRS parallel robot in this paper, i.e., the forward, inverse, and combined singularity. Conventional analysis method of a parallel robot is... View More

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