Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra

摘要

This paper characterizes geometrically the singularities of limited DOFparallel manipulators. The geometric conditions associated with the dependencyof six Pl\"ucker vector of lines (finite and infinite) constituting the rows ofthe inverse Jacobian matrix are formulated using Grassmann-Cayley algebra.Manipulators under consideration do not need to have a passive spherical jointsomewhere in each leg. This study is illustrated with three example robots