The paper discusses mobility and singularities of a class of 4-dof parallel wrists with four legs. The singular configurations are classified in detail and their geometric interpretation is discussed. The velocity kinematics and the Jacobian operator are formulated via a screw-system approach. A fully parameterized package of Maple tools was developed and used to visualize singularities and their consequences.
Singularities and mobility of a class of 4-dof mechanisms
ZLATANOV, DIMITER;ZOPPI, MATTEO;
2004-01-01
Abstract
The paper discusses mobility and singularities of a class of 4-dof parallel wrists with four legs. The singular configurations are classified in detail and their geometric interpretation is discussed. The velocity kinematics and the Jacobian operator are formulated via a screw-system approach. A fully parameterized package of Maple tools was developed and used to visualize singularities and their consequences.
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