{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T02:07:25Z","timestamp":1767665245232},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2001,10,30]],"date-time":"2001-10-30T00:00:00Z","timestamp":1004400000000},"content-version":"unspecified","delay-in-days":59,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2001,9]]},"abstract":"<jats:p>When a parallel manipulator reaches a \nsingular configuration (singularity), the end effect (platform) pose cannot be \ncontrolled any longer, and infinite active forces must be applied \nin the actuated joints to balance the loads exerted on \nthe platform. Therefore, these singularities must be avoided during motion. \nThe first step to avoid them is to locate all \nthe platform poses (singularity locus) making the manipulator singular. Hence, \nthe availability of a singularity locus equation, explicitly relating the \nmanipulator geometric parameters to the singular platform poses, greatly facilitates \nthe design process of the manipulator. The problem of determining \nthe platform poses, that make the 6-3 fully-parallel manipulator (6-3 \nFPM) singular, will be addressed. A simple singularity condition will \nbe written. This singularity condition consists in equating to zero \nthe mixed product of three vectors, that are easy to \nbe identified on the manipulator, and it is geometrically interpretable. \nThe presented singularity condition will be transformed into an equation \n(singularity locus equation) explicitly containing the geometric parameters of the \nmanipulator and the platform pose parameters making the 6-3 FPM \nsingular. Eventually, the singularity locus equation will be reduced to \na polynomial equation by using the Rodrigues parameters to parameterize \nthe platform orientation. This polynomial equation is cubic in the \nplatform position parameters and one of sixth degree in the \nRodrigues parameters.<\/jats:p>","DOI":"10.1017\/s0263574701003472","type":"journal-article","created":{"date-parts":[[2008,8,14]],"date-time":"2008-08-14T06:30:17Z","timestamp":1218695417000},"page":"663-667","source":"Crossref","is-referenced-by-count":24,"title":["Analytic formulation of the 6-3 fully-parallel manipulator's singularity determination"],"prefix":"10.1017","volume":"19","author":[{"given":"Raffaele","family":"Di Gregorio","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2001,10,30]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574701003472","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,9]],"date-time":"2019-04-09T16:55:25Z","timestamp":1554828925000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574701003472\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2001,9]]},"references-count":0,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2001,9]]}},"alternative-id":["S0263574701003472"],"URL":"https:\/\/doi.org\/10.1017\/s0263574701003472","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2001,9]]}}}