Singularity analysis of 6-DOF parallel manipulator with local structuralization method

Generally, singularity analysis of 6-DOF parallel manipulators is very difficult and, as a result, the velocity relation has many uncertainties. Many researchers have reported that the forward position kinematics can be solved more easily with extra sensors. However, the relation of the velocity kinematics with extra sensors has not been fully studied yet. In this paper, an alternative method using the local structuralization method (LSM) for the analysis of singular configurations is presented. With LSM, the velocity relation can be represented in a simple form, and the result is totally equivalent to the conventional velocity relation. The velocity relation suggested in this paper gives a closed-form solution of singularities