This repository illustrates a characteristic tetrahedron based approach to determine the singular configurations of motion simulator platforms

The video below shows a simple trajectory followed by parallel robot showing characteristic tetrahedron and also becomes degenerate i.e becomes a plane and the point lies on the platform when the parallel robot is at singular configuration.

A library of graphical and computational tools has been written in order to simplify the analysis and to provide a sophisticated and effective mockup.

The characteristic tetrahedron and apex of tetrahedron are visualized and seen normally for a working configuration of parallel robot (Minimal simplified symmetric manipulator) is shown in the graphic mockup below

The degenerated tetrahedron ie plane is shown for the first singular configuration of the parallel robot

The degenerated tetrahedron ie plane is shown for the second singular configuration of the parallel robot

The degenerated tetrahedron ie plane is shown for the third singular configuration of the parallel robot

The degenerated tetrahedron ie plane is shown for the fourth singular configuration of the parallel robot

The degenerated tetrahedron ie plane is shown for the fifth singular configuration of the parallel robot

This repository is maintained by:

	Vishal Ramadoss