0
TECHNICAL PAPERS

Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory

[+] Author and Article Information
Ilian A. Bonev, Dimiter Zlatanov, Clément M. Gosselin

Département de Génie Mécanique, Université Laval, Québec, QC, Canada G1K 7P4

J. Mech. Des 125(3), 573-581 (Sep 04, 2003) (9 pages) doi:10.1115/1.1582878 History: Received July 01, 2001; Revised October 01, 2002; Online September 04, 2003
Copyright © 2003 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
The basic 3-DOF PPMs with identical legs
Grahic Jump Location
Reciprocal screw for (a) two passive R joints and (b) one passive R joint and one passive P joint
Grahic Jump Location
A 3-DOF PPM of type 3-RPR or 3-RPR
Grahic Jump Location
Singularity loci of a 3-RPR PPM for all working modes
Grahic Jump Location
A 3-DOF PPM of type 3-RRR or 3-RRR
Grahic Jump Location
A 3-DOF PPM of type 3-PRR or 3-PRR
Grahic Jump Location
Singularity loci of a 3-PRR PPM for all working modes
Grahic Jump Location
A 3-DOF PPM of type 3-RPP or 3-RPP
Grahic Jump Location
A 3-DOF PPM of type 3-RRP
Grahic Jump Location
Singularity loci of a 3-RRP PPM for all working modes
Grahic Jump Location
A 3-DOF PPM of type 3-PRP
Grahic Jump Location
An example showing (a) an RPaR chain and (b) its kinematically equivalent RRR chain

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In