2022
DOI: 10.3844/ajeassp.2022.197.208
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Singularity Analysis of a Hybrid Serial-Cable Driven Planar Robot

Abstract: In this study, we address the problem of singularities of a hybrid serial-cable driven planar robot. Based on an analytical kinetostatic analysis three types of singularities are determined, i.e., serial, parallel, and combined singularities. In addition, cable tensions should be positive, otherwise, the robot will be uncontrollable. The serial singularity corresponds to positions where the serial port of the robot is fully extended or fully folded. The parallel singularity corresponds to aligned cables and co… Show more

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