The motion control of the hexapod parallelmechanism with high speed and high acceleration depends on the accurate dynamics model, proper simplification and real-time computing.
By adopting the method based on instantaneous motion analysis of mechanism, the distinguishing matrix for singularity configuration of 3-rtt parallel robot was established.
采用基于机构瞬时运动分析的方法，建立了3 - RTT并联机器人的奇异位形判别阵。
3
As an example, a planar five bars 2-dof parallelmechanism is discussed, the working space is drawn and the motion and force manipulation singularity are analyzed.