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planar 5r mechanism

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High-order singularities of 5R planar parallel robots
Mustafa Özdemir
Journal:

Robotica / Volume 37 / Issue 2 / February 2019

Published online by Cambridge University Press:

20 September 2018, pp. 233-245
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Singularity analysis of parallel manipulators is an active research field in robotics. The present article derives for the first time in the literature a condition under which a five-bar parallel robot encounters high-order parallel singularities. In this regard, by focusing on the planar 5R mechanism, a theorem is given in terms of the slope of its coupler curve at the parallel singular configurations. At high-order parallel singularities, the associated determinant vanishes simultaneously with at least its first-order time derivative. The determination of such singularities is quite important since in their presence, some special conditions should be satisfied for bounded inverse dynamic solutions.