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Abstract：
The actuator singular configurations of three kinds of planar redundant parallel mechanisms (PRPR-2PRR, PRR-2PRR and 4-PRR) were discussed. Compared with planar non-redundant 3_PRR parallel mechanism, the methods and characteristics for different types of redundancy in eliminating singularity configurations of parallel mechanism were studied. The analytical results can be of great useful to the dimension synthesis, trajectory planning and control of redundant parallel mechanism.
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China Mechanical Engineering
ISSN： 1004-132X
Year： 2006
Issue： 6
Volume： 17
Page： 629-632
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WoS CC Cited Count： 0
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ESI Highly Cited Papers on the List： 0 Unfold All
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30 Days PV： 0
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