2002•Journal of National University of Defense TechnologyRequires access
Stability of Singularity in Parallel Manipulators
Xue Wu
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Abstract
This paper introduces the concept of the critical points stability of the mapping theory into the singularity analysis of parallel manipulator and proposes the concept of stable singularity and unstable singularity. Some low degree of freedom parallel manipulators are researched into and the results verify that the classification of singularities according to their stability is reasonable. The proposed method can provide theoretic foundation for the structure design and control of parallel manipulators.