Singularity Loci Analysis of a Planar Parallel Manipulator with Revolute Actuators

The determination of the singularity loci of a twodegreeoffreedom planar parallel manipulator is addressed. The inverse kinematics of the parallel manipulator is first computed and its velocity equation is then derived. Using the velocity equations, the singularity loci analysis of the manipulators is completed and the expression representing the singularity loci of the manipulator is obtained. A polynomial form of the singularity loci is also derived.