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Author

Samir Lahouar

LGM, Ecole Nationale d’Ingénieurs de Monastir, Université de Monastir, Monastir, Tunisia
1 article in our journals

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Research ArticleOpen accessSingularity Analysis of a Hybrid Serial-Cable Driven Planar RobotSamir Lahouar, Lotfi RomdhaneIn this study, we address the problem of singularities of a hybrid serial-cable driven planar robot. Based on an analytical kinetostatic analysis three types of singularities are determined, i.e., serial, parallel, and combined singularities. In addition, cable tensions should be positive, otherwise, the robot will be uncontrollable. The serial singularity corresponds to positions where the serial port of the robot … …American Journal of Engineering and Applied Sciences, Vol. 15, Issue 3 · 26 Sep 2022 · 5,604 accessesView PDFCite