IEEE - Institute of Electrical and Electronics Engineers, Inc. - Singularity analysis of a 5-bar planar parallel mechanism based on a geometric measures

2013 44th International Symposium on Robotics (ISR 2013)

Author(s): Jung-Hyun Choi ; Chan Lee ; Ma-Eum Kim ; Jehwon Lee
Sponsor(s): IEEE Robot. Autom. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2013
Conference Location: Seoul, South Korea
Conference Date: 24 October 2013
Page(s): 1 - 3
ISBN (Electronic): 978-1-4799-1173-8
DOI: 10.1109/ISR.2013.6695723
Regular:

This paper proposes a new method for determining the singularity of a 5-bar planar PKM with revolute joints by taking geometric measures. A distinct feature of the proposed method is that it uses... View More

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