View the step-by-step solution to:


A prismatic joint with twist ξ3 = (v3,0) is normal to a plane containing two parallel revolute axes ξi = (qi

×ωi,ωi), i = 1,2 if

• vT 3 ωi = 0

• vT 3 (q1 −q2) = 0

• ω1 = ±ω2

Show that when this occurs, any six degree of freedom manipulator is at a singular configuration.

Give an example of a manipulator exhibiting such a singularity.



Recently Asked Questions

Why Join Course Hero?

Course Hero has all the homework and study help you need to succeed! We’ve got course-specific notes, study guides, and practice tests along with expert tutors.

  • -

    Study Documents

    Find the best study resources around, tagged to your specific courses. Share your own to gain free Course Hero access.

    Browse Documents
  • -

    Question & Answers

    Get one-on-one homework help from our expert tutors—available online 24/7. Ask your own questions or browse existing Q&A threads. Satisfaction guaranteed!

    Ask a Question
Ask Expert Tutors You can ask 0 bonus questions You can ask 0 questions (0 expire soon) You can ask 0 questions (will expire )
Answers in as fast as 15 minutes