Abstract
In the present paper, singular point of in-parallel actuated mechanisms at which connecting chain has local mobility has been investigated. Based on inverse kinematics, the presence of such singular point has been revealed. Kinematic relationship among output velocity and joint velocities of both active and passive joints in the connecting chain that has local mobility has been derived. A method of trajectory planning considering kinematic characteristics at the singular point has been shown. Numerical examples of a planar in-parallel actuated mechanism with three dof have been shown and discussed.
