1. Date of download: 10/6/2017
Copyright © ASME. All rights reserved.
From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1
J. Mechanisms Robotics. 2014;6(2): doi: /
Figure Legend:
Reciprocal screws

2. Date of download: 10/6/2017
Copyright © ASME. All rights reserved.
From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1
J. Mechanisms Robotics. 2014;6(2): doi: /
Figure Legend:
A 2-RPS-1-SPR parallel mechanism

3. Date of download: 10/6/2017
Copyright © ASME. All rights reserved.
From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1
J. Mechanisms Robotics. 2014;6(2): doi: /
Figure Legend:
A PPL

4. Date of download: 10/6/2017
Copyright © ASME. All rights reserved.
From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1
J. Mechanisms Robotics. 2014;6(2): doi: /
Figure Legend:
Reciprocal screw systems of three 4-$0-systems: (a) S⊥ is a 1-$∞-1-$0-system, (b) S⊥ is a special 2-$0-system, and (c) S⊥ is a general 2-$0-system

5. Date of download: 10/6/2017
Copyright © ASME. All rights reserved.
From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1
J. Mechanisms Robotics. 2014;6(2): doi: /
Figure Legend:
Intersection of two PPLs: (a) Case I of a 1-$0-system, (b) Case II of a 1-$0-system, (c) Case III of 1-$0-system, and (d) Empty case

6. Date of download: 10/6/2017
Copyright © ASME. All rights reserved.
From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1
J. Mechanisms Robotics. 2014;6(2): doi: /
Figure Legend:
Construction of a 3-PPL-system of order 5 using Eq. (4): (a) Case 5b, (b) Case 5c, (c) Case 5d, and (d) Case 5e

7. Date of download: 10/6/2017
Copyright © ASME. All rights reserved.
From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1
J. Mechanisms Robotics. 2014;6(2): doi: /
Figure Legend:
Characteristics of case 4c 2-PPL-system of order 4

8. Date of download: 10/6/2017
Copyright © ASME. All rights reserved.
From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1
J. Mechanisms Robotics. 2014;6(2): doi: /
Figure Legend:
Singularity analysis of a 2-RPS-1-SPR parallel manipulator: (a) Wrench system and plane of constraint force pencil of an RPS leg, and (b) Manipulator in a singular configuration

9. Date of download: 10/6/2017
Copyright © ASME. All rights reserved.
From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1
J. Mechanisms Robotics. 2014;6(2): doi: /
Figure Legend:
Construction of a 3-PPL-system of order 5 using Eq. (3)