Proceedings Vol. 18 (2012)
ENGINEERING MECHANICS 2012
May 14 – 17, 2012, Svratka, Czech Republic
Copyright © 2012 Institute of Theoretical and Applied Mechanics, Academy of Sciences of the Czech Republic, v.v.i., Prague
ISBN 978-80-86246-40-6 (electronic)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)
list of papers scientific commitee
pages 147 - 150, full text
Singularities are places in the workspace of the robot where kinematic equations have no solution. It is of course desired to minimize number of such places in the workspace. The analysis of these places is then important from the construction point of view where singularities might be suppressed by suitable changes in design of construction. The paper deals with description of singular cases types of a parallel manipulator and their analysis via analysis of the determinants of the system Jacobians. This is demonstrated for two examples – planar and spatial parallel manipulator.
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All papers were reviewed by members of the scientific committee.
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