Singularity of a novel five-DOF parallel manipulator

This paper studies the singularity of a five-degree-of-freedom 3-RRUR parallel manipulator, presents singularity equations and the geometry conditions of singularity of the 3-RRUR parallel manipulator. The input plan is optimized based on the analysis on singularity of the manipulator. The special characteristics in singularity of the parallel manipulator is given. This parallel manipulator can be used to build industrial robots for assembly or dummy axis machine tools with simple symmetry structure, less error accumulating and high rigidness.