A New Euclidian Distance Based Approach to Measure Closeness to Singularity for Parallel Manipulators

Singularity configurations are particular poses of end-effector, for which parallel manipulators lose inherent infinite rigidity and in which the end-effector lose control. Finding how close the manipulator is to a singularity is one of the most important issues of parallel manipulators, as well as explaining its physical meaning. Based on forward kinematic analysis and mathematical definition, this paper presents a new approach based on linear distance to measure closeness to singularity for parallel manipulators. By comparing with several singularity indices, the advantages and disadvantages of different indices can be easily identified, and the best index for different situations of various types of parallel manipulators can be derived.

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