Forward Problem Singularities of Manipulators Which Become PS-2RS or 2PS-RS Structures When the Actuators are Locked

[+] Author and Article Information
Raffaele Di Gregorio

Department of Engineering, University of Ferrara, Via Saragat, 1, 44100 FERRARA, Italye-mail: rdigregorio@ing.unife.it

J. Mech. Des 126(4), 640-645 (Aug 12, 2004) (6 pages) doi:10.1115/1.1758251 History: Received April 01, 2003; Revised November 01, 2003; Online August 12, 2004
Copyright © 2004 by ASME
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Grahic Jump Location
The i-th limb of type PS
Grahic Jump Location
The j-th limb of type RS
Grahic Jump Location
Singular geometry of type (a.1)
Grahic Jump Location
Singular geometry of type (c.1)
Grahic Jump Location
Singular geometry of type (c.2)




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