Performance Analysis and Optimization of a 6-DOF Robotic Crusher

Figure 12

The singularity locus with different positions. (a) ((X) = 9.5, (Y) = (Z) = 0), (b) ((X) = −4.9, (Y) = −14.4, (Z) = 0), (c) ((X) = −19.2, (Y) = (Z) = 0), (d) ((X) = −4.9, (Y) = 14.4, (Z) = 0).

(a)

(b)

(c)

(d)