Abstract Singularity analysis is an important issue in mechanism design, as kinetostatic properties of a manipulator will undergo a sudden and dramatic change close to singular configurations. Architecture singularity is a type of singularity caused by a special architecture of a manipulator. In this work, a new approach is developed to find efficiently architectural singularity due to special platform shapes, or shape singularity for short. The new method is based on analytical formulation combined with detection of singularity with selected configurations. By this way, intensive calculation and equation solving are avoided and the shape singularity can be detected more efficiently. With the developed method, shape singularities are determined for three parallel manipulators, including 3-DOF planar and spatial parallel mechanisms, and the 6-DOF Stewart–Gough manipulator.

中文翻译：

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三种并联机械臂形状奇异点的解析确定

摘要 奇异性分析是机构设计中的一个重要问题，因为机械手的动静力学特性会发生接近奇异构型的突然而剧烈的变化。架构奇点是一种由机械手的特殊架构引起的奇点。在这项工作中，开发了一种新方法来有效地找到由于特殊平台形状或简称形状奇点而产生的架构奇点。新方法基于分析公式，结合选定配置的奇异性检测。通过这种方式，避免了密集的计算和方程求解，并且可以更有效地检测形状奇异点。使用开发的方法，确定了三个平行机械臂的形状奇异点，包括 3-DOF 平面和空间平行机构，