Families of 6R orthogonal robotic manipulators with only isolated and pseudo-isolated singularities

This paper presents the structural synthesis and the singularity analysis of six new families of orthogonal anthropomorphic robotic manipulators having six degrees of mobility. Each family is composed of eight robotic manipulators having six degrees of spatiality and the same singular configurations. Two families have only isolated singularities in R-1 and the other four families have isolated and pseudo-isolated singularities in R-1. The singularities are defined by algebraic approaches, by using the symbolic expression of the Jacobian matrix and its determinant, and are interpreted geometrically. (C) 2002 Elsevier Science Ltd. All rights reserved.