Singularity analysis of a 5-bar planar parallel mechanism based on a geometric measures

This paper proposes a new method for determining the singularity of a 5-bar planar PKM with revolute joints by taking geometric measures. A distinct feature of the proposed method is that it uses perpendicular distances between end-effectors, actuators, and determine singularities based on screw theory. The proposed method is intuitive and simple and thus can be used for analyzing the singularity of various PKMs © 2013 IEEE