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Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms by Ning Ma, Fulei Chu, Zhijing Feng, Jingshan Zhao

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Chapter 6

Singularity Analysis of the End Effector of a Mechanism within Its Workspace

Abstract

The singularity of the spatial robot mechanism within its workspace is studied and it is proved that the structural symmetry of the mechanisms themselves will inevitably lead not only to the symmetry of reachable workspace and dexterous workspace of its end effector, but also to that of singular workspace. A quantitative description of such a symmetric relation provides some theoretical basis for the analysis and synthesis of workspace of symmetrical mechanisms. According to equivalent replacement theorems of the kinematic chain, it can be found that it is also very easy to use this method for dealing with the singularity of compound mechanisms. ...

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