Singularity analysis of 6-DOF parallel manipulator with local structurization method

국부구조화 방법을 이용한 6자유도 병렬형 매니퓰레이터의 특이점 해석

Generally, singularity analysis of 6-DOF parallerl manipulators is very difficult and, as result, velocity relation has many uncertainties. In this paper, an alternative method using the local structurizatioin method(LSM) for the analysis of singular configuraions is presented. With LSM, the velocity relation can be represented in a simple form, and the result is totally equivalent to the conventional velocity relation. The velocity relation suggested in this paper gives a closed-form solution of singularities.