0411080 20240111140636.120060210235959.9 80-86246-18-3 Prague Czech Technical University 2003 CD-ROM 1-8NáprstekJ.FischerC. planar parallel robot singular analysis kinematic transformations cav_un_auth*0101064 Belda Květoslav UTIA-B Department of Adaptive Systems Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0035509 Stejskal V. CZ http://library.utia.cas.cz/separaty/historie/belda-0411080.pdf 833 kB 09N GA101/03/0620 GA ČR cav_un_auth*0003705 CEZ:AV0Z1075907 Singular cases - singularities of the robot are defined as positions in which the robot loses kinematic definiteness. The loss appears in both direct and inverse kinematic transformation. Existence of the singularities in the robot workspace causes sharp changes in profiles of the velocities and accelerations and changes in force effects. The objective of this paper is to investigate singularities (singular positions) of one parallel robot structure and to simply classify such singular cases. cav_un_auth*0050941 Engineering Mechanics 2003 Svratka CZ 12.05.2003-15.05.2003 BC AS http://hdl.handle.net/11104/0131167 UTIA-B 20030067 2003 2003 Prague Czech Technical University 80-86246-18-3 833 kB Engineering Mechanics 2003 1 8 Náprstek J. 340 Fischer C. 340