Research Article Open Access

Singularity Analysis of a Hybrid Serial-Cable Driven Planar Robot

Samir Lahouar1 and Lotfi Romdhane2
  • 1 LGM, Ecole Nationale d’Ingénieurs de Monastir, Université de Monastir, Monastir, Tunisia
  • 2 Department of Mechanical Engineering, College of Engineering, American University of Sharjah, Sharjah, United Arab Emirates


Inthis study, we address the problem of singularities of a hybrid serial-cabledriven planar robot. Based on an analytical kinetostatic analysis three typesof singularities are determined, i.e., serial, parallel, and combinedsingularities. In addition, cable tensions should be positive, otherwise, therobot will be uncontrollable. The serial singularity corresponds to positionswhere the serial port of the robot is fully extended or fully folded. Theparallel singularity corresponds to aligned cables and combined singularitiescorrespond to both cases. Cable tensions distribution, within the workspace, isdetermined, which allowed the identification of regions where the cabletensions exceed an allowable value. The influence of physical parameters on theworkspace of the robot and its singular configurations is also studied. Anexample of a gait rehabilitation system using this type of robot is shown.Based on the kinetostatic analysis, multi-objective optimization of thedexterity and the cable tensions is performed, which yielded solutionsrepresented by a Pareto front. The results have been extended to the case of 3degrees of freedom hybrid robot.

American Journal of Engineering and Applied Sciences
Volume 15 No. 3, 2022, 197-208


Submitted On: 13 July 2022 Published On: 26 September 2022

How to Cite: Lahouar, S. & Romdhane, L. (2022). Singularity Analysis of a Hybrid Serial-Cable Driven Planar Robot. American Journal of Engineering and Applied Sciences, 15(3), 197-208.

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