Para-arm: A five-bar parallel manipulator with singularity-perturbed design

D. N. Nenchev, M. Uchiyama

    Research output: Contribution to journalArticlepeer-review

    10 Citations (Scopus)


    We propose a new singularity-perturbed design approach to a planar five-bar parallel-link manipulator. The design allows us to operate the manipulator either in parallel or in serial branch mode, and also to exchange those modes. Thus, it is possible to merge some of the well-known advantages of serial and parallel manipulators. We study two basic singularity-perturbed designs and show that one of them is preferable. A feasibility study through computer simulation, including maximum torque requirement, is also presented.

    Original languageEnglish
    Pages (from-to)453-462
    Number of pages10
    JournalMechanism and Machine Theory
    Issue number5
    Publication statusPublished - 1998 Jul 1

    ASJC Scopus subject areas

    • Bioengineering
    • Mechanics of Materials
    • Mechanical Engineering
    • Computer Science Applications


    Dive into the research topics of 'Para-arm: A five-bar parallel manipulator with singularity-perturbed design'. Together they form a unique fingerprint.

    Cite this