@inproceedings{d898f92228c844a4bb50afccbf19f304,
title = "Singularity analysis of a wall-mounted parallel robot with SCARA motions",
abstract = "This paper studies the singularity of a four-limb parallel robot of SCARA motion. The robot is designed with the rotation axis of the mobile platform parallel to the base platform, which allows the robot to be mounted vertically, instead of the horizontal installation, to reduce the mounting space. The singularity is analyzed by means of Jacobian-based pressure angles, which are applicable for the singularity identification graphically and numerically. Moreover, the index defined from the pressure angles can be used to evaluate the motion/force transmission quality of the robot. The singularity loci of the wall-mounted robot with specific parameters are identified, which shows that the robot has a large cuboid singularity-free translational workspace with rotational capability ±45º, suitable for pick-and-place operations.",
keywords = "Parallel robot, Pressure angle, SCARA motion, Singularity, Parallel robot, SCARA motion, Singularity, Pressure angle",
author = "Guanglei Wu and Shaoping Bai",
year = "2017",
doi = "10.1007/978-3-319-44156-6_61",
language = "English",
isbn = "978-3-319-44155-9",
series = "Mechanisms and Machine Science",
publisher = "Springer",
pages = "599--607",
editor = "Phillippe Wenger and Paulo Flores",
booktitle = "New Trends in Mechanism and Machine Science",
address = "Germany",
note = "International Federation for the Promotion of Mechanism and Machine Science, IFToMM 2016 ; Conference date: 20-09-2016 Through 23-09-2016",
}