Performance Analysis and Optimization of a 6-DOF Robotic Crusher

Figure 11

The singularity locus with different orientations. (a) ( = 0,  = 2.52°), (b) ( = 2.52°,  = 0,  = −4.47°), (c) ( = 0,  = −2.52°), (d) ( = −2.52°,  = 0,  = 4.47°).

(a)

(b)

(c)

(d)