Singularity Analysis of 5R 3DoF Parallel Manipulators Via Screw Theory

Each limb composed by five joints characterized 5R pairs respectively.The structure and configuration singularity are discussed in this paper used by screw theory and coordinate transform method which called Depth First Search algorithm.Considered its special structures,relational of geometry provided into account and derived a certainly coefficient Jocabian matrix.Furthermore,this method is also useful for finding multiple loop-chains solutions for the robot as well as for trajectory planning which can avoid the displacement of singularity.As shown by numerical examples of singularity presented in this paper.