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This paper is devoted to study the first type singularity of the novel 3-PRPS-type tripod. This tripod is formed by connecting a moving platform with a fixed platform (base) through three closing kinematic chains of the PRPS type, and it has three active and three passive input prismatic kinematic pairs. The Jacobian matrices of the 3-PRPS-type tripod have been derived. Singular configurations of the tripod appear when the determinants of the Jacobian matrices equal zero. By analyzing the degeneracy of the Jacobian matrices, the conditions for the first type of singularity are defined.

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The First Type Singularity of the Novel 3-PRPS Type Tripod

  • 会议论文

  • 发表日期：

    2025年

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  • Zhumadil Baigunchekov,
  • Giuseppe Carbone,
  • Med Amine Laribi,
  • Rustem Kaiyrov,
  • Wang Xuelin,
  • Li Qian,
  • Muerzhahan Yeerzhati

摘要

This paper is devoted to study the first type singularity of the novel 3-PRPS-type tripod. This tripod is formed by connecting a moving platform with a fixed platform (base) through three closing kinematic chains of the PRPS type, and it has three active and three passive input prismatic kinematic pairs. The Jacobian matrices of the 3-PRPS-type tripod have been derived. Singular configurations of the tripod appear when the determinants of the Jacobian matrices equal zero. By analyzing the degeneracy of the Jacobian matrices, the conditions for the first type of singularity are defined.