Semaan Amine, Ossama Mokhiamar, and Stephane Caro
Limb singularity, screw theory, Grassmann–Cayley algebra, super-bracket
This paper presents a new method for analysing the limb singularities of lower-mobility parallel manipulators using the superbracket of Grassmann–Cayley algebra. For lower-mobility limbs, the limb twist system does not form a 6 × 6 matrix. The proposed method allows forming a Jacobian matrix, and thus, a superbracket for any lower-mobility limb by adding twists that correspond to the limb’s constrained motion(s). The method is applied to four- and five-degrees of freedom limbs.
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