## Abstract

This paper deals with the forward displacement analysis and singularity analysis of a 2-DOF 5R spherical parallel manipulator. An alternative formulation of the kinematic equations of the 2- DOF spherical parallel manipulator is proposed. A formula is then derived to produce directly the unique current solution to the FDA of the 2-DOF spherical parallel manipulator. It is proved that the formula is associated with the same assembly mode and working mode as the reference configuration of the spherical parallel manipulator. Unlike other parallel manipulators, the 2-DOF 5R spherical parallel manipulator always undergoes self-motion in a Type 2 singular configuration, and the 3R leg of the 2-DOF spherical parallel manipulator also always undergoes self-motion in a Type 1 singular configuration. Copyright © 2009 by ASME.

Original language | English |
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Title of host publication | Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 |

Pages | 443-447 |

Number of pages | 5 |

Volume | 3 |

Publication status | Published - 2010 |

Event | 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - San Diego, CA, United States Duration: 30 Aug 2009 → 2 Sept 2009 |

### Conference

Conference | 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
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Abbreviated title | DETC2009 |

Country/Territory | United States |

City | San Diego, CA |

Period | 30/08/09 → 2/09/09 |

## Keywords

- Forward displacement analysis
- Parallel mechanism
- Quadratic parallel mechanism
- Singularity analysis.
- Spherical parallel mechanism