Singular configuration discrimination of parallel mechanism based on the motor torque change rate

By the kinematics simulation of the 6PUS-UPS/UPU parallel mechanism, it is found that, under some specific pose, the load of the parallel mechanism is undertook completely by two of the links. This paper proposes that, except the singular configuration of the parallel mechanism, there is also a specific pose under which the decrease of load capacity is aroused or the damage of mechanism is obtained. According to the effect of the first order kinematic influence coefficient on the force change law under some specific pose, a singular configuration discrimination of parallel mechanism based on the motor output torque is proposed.