Graphical User Interface for the Singularity Analysis of Lower-Mobility Parallel Manipulators

In this paper, a new graphical user interface is developed for the singularity analysis of lower-mobility parallel manipulators. The algorithm used for this tool is based upon the Grassmann-Cayley Algebra in addition to the concept of wrench graph to provide a simplified expression of the superbracket decomposition. Then, using the appropriate geometric incidences, the superbracket expression will be transformed into a geometric statement characterizing the singularity conditions of the manipulators. In this graphical user interface, useful options are introduced to better guide the user in the formulation of the superbracket and the interpretation of the singularities.