Abstract: Singularities are one of the most important issues affecting the performance of parallel mechanisms. Therefore, analysis of their locations and closeness is essential for the development of a highperformance mechanism. The ...

Abstract: Singularities are one of the most important issues affecting the performance of parallel mechanisms. A parallel mechanism with less than six degrees of freedom (6DOF) is classed as having lower mobility. In addition to ...

Abstract: Robots designed for space applications, deep sea applications, handling of hazardous material and surgery should ideally be able to handle as many potential faults as possible. This paper provides novel indices for fault ...