Singularity analysis of the HALF parallel manipulator with revolute actuators

This paper concerns the singuIariQ of the HALF parallel manipulato,: a novel three degrees offeedom (DoFs) mechanism, with revolute actuators. The parallel manipulato,: pmposedpreviousb, consists of a base plate, a movable platform, and three connecting legs. It has the advantages in terms of only single-DoF joints and high rotational capability The parallef manipulator has wide application in the fields of industrial robots, simulators, parallel machine tools and any other manipulating devices that high rotational capability is required. The inverse kinematics problem and Jacobian matrices are recalledfirstly. And then all possible singnlarities of the manipulator are analyzed in detail. The results ofthepaper are very usefulfor the apprehensionand the application ofthe manipulator:

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Xin-Jun Liu, Jongwon Kim, Kun-Ku Oh
• Keywords: Application Ofthe Manipulator, HALF Parallel Manipulato, ICRA 2003, Parallel Manipulato, Robotics