Singularity Loci of Spherical Parallel Mechanisms

Abstract— This paper presents the computation and representation of the Type 2 singularity loci of symmetric spherical parallel mechanisms based on a not-well-known intuitive orientation representation. The latter, previously introduced under the name of the Tilt-and-Torsion angles, is briefly described. Then, to illustrate the approach, the two most basic spherical parallel mechanisms are considered and their Type 2 singularities are fully analyzed for various designs.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Ilian A. Bonev, Clément Gosselin
• Keywords: ICRA 2005, Not-well-known Intuitive Orientation, Robotics, Spherical Parallel Mechanisms, Symmetric Spherical Parallel