Research Article
A New Mathematical Method to Study the Singularity of 3-RSR Multimode Mobile Parallel Mechanism
Table 2
Study the singularity of the 3-RSR PM in the rolling mode.
| Order | Gait planning of rolling mode | Study the singularity in each gait |
| step1 to step2 | | According to Table 1, from step1 to step2, the singular configurations shown in Table 1 do not appear. |
| step 2 to step3 | | During this process, the singular configuration that may occur according to Table 1 is the constrained singular configuration | |
| Step3 to step4 | | According to Table 1, from step3 to step4, the singular configurations shown in Table 1 donot appear. |
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