Kinematic Singularities of a 3-DoF Planar Geared Robot Manipulator

By incorporating gearing into a planar 3R mechanism, one obtains a family of mechanisms in which the gear ratios play a central kinematic role. Special choices of these parameters result in interesting simplifications of the kinematic mapping. An explicit expression for the mapping can be derived using the ‘matroid method’ of Talpasanu et al. [6]. We use this relatively simple mechanism to illustrate singularity analysis for geared mechanisms .