Dynamic analysis of parallel-link manipulators under the singularity-consistent formulation

For a class of parallel-link manipulators we develop a general formulation of the equation of motion, suitable for parallel computations. We analyze the torque requirement when moving through various self-motion type singularities on a path generated under the singularity-consistent framework. The formulation, contributes mainly to the analysis of a singularity which is typical for parallel robots only, known from previous studies as "overmobility". We show that if the dynamics of the system is taken, under consideration, it is possible to move through such a singularity. This analysis motivates the introduction of the concept of dynamic singularity consistency. As a comprehensive analytical example we use a five bar robotic mechanism.