@inproceedings{351d797c47634eac87f52cfa8510cb85,
title = "Singularity analysis of 2R1P spherical parallel mechanisms",
abstract = "This paper studies the possible configurations and singularities of 3-DOF spherical parallel mechanisms with revolute and prismatic pairs. In particular, the 2R1P spherical parallel mechanisms are studied, for which the kinematic models are established and Jacobian matrices are derived. Three kinds of singularities, namely the boundary, configuration and structure singularities, are identified and analyzed for RRP, PRR and RPR type of spherical parallel mechanisms. The results can be used for further modeling and analysis on workspace and trajectory planning of 3-DOF spherical parallel mechanisms towards the practical application of the kind of mechanisms.",
keywords = "2R1P spherical parallel mechanism, Jacobian matrix, Singularity analysis",
author = "Yaohong Zhao and Ruiqin Li and Shaoping Bai and Lei Sui",
year = "2015",
month = may,
day = "5",
doi = "10.1007/978-3-319-18126-4_41",
language = "English",
isbn = "978-3-319-18125-7",
volume = "Part VI",
series = "Mechanisms and Machine Science",
publisher = "Kluwer Academic Publishers",
pages = "427--434",
editor = "Shaoping Bai and Marco Ceccarelli",
booktitle = "Recent Advances in Mechanism Design for Robotics",
note = "3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015 ; Conference date: 02-06-2015 Through 04-06-2015",
}