Singularity Analysis and Representation of 6DOF Parallel Robot Using Natural Coordinates

<div>Diagram of vertices arrangement for 6-UPS planar parallel robot. <i>A</i><sub><i>i</i></sub> are the vertices of the moving platform. <i>B</i><sub><i>i</i></sub> are the vertices of the base. The circles in the dashed line are the circumscribed circle of the moving and base platforms, respectively.</div>

Journal of Robotics

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Figure 3

Figure 3: Singularity Analysis and Representation of 6DOF Parallel Robot Using Natural Coordinates 