Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Some in-parallel robots, such as the 3-2-1 and the 3/2 manipulators, have attracted attention because their forward kinematics can be solved by three consecutive trilaterations. ,  identify a class of these robots, which  call flagged manipulators, whose singularity loci admit a ll-behaved decomposition, i.e., a stratification, derived from that of the flag manifold. Two remarkable properties must be highlighted. First, the decomposition has the same topology for all members in the class, irrespective of the metric details of each particular robot instance. Thus,  provide explicitly all the singular strata and their connectivity, which apply to all flagged manipulators without any tailoring. Second, the strata can be easily characterized geometrically, because it is possible to assign local coordinates to each stratum (in the configuration space of the manipulator) that correspond to uncoupled rotations and/or translations in the workspace.
['Carme Torras', 'Federico Thomas', 'Maria Alberich-Carramiñana']
I am writing a research paper on a idea Stratifying the singularity loci of a class of parallel manipulators
[{"from": "human", "value": "I am writing a research paper on a idea Stratifying the singularity loci of a class of parallel manipulators"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Some in-parallel robots, such as the 3-2-1 and the 3/2 manipulators, have attracted attention because their forward kinematics can be solved by three consecutive trilaterations. ,  identify a class of these robots, which  call flagged manipulators, whose singularity loci admit a ll-behaved decomposition, i.e., a stratification, derived from that of the flag manifold. Two remarkable properties must be highlighted. First, the decomposition has the same topology for all members in the class, irrespective of the metric details of each particular robot instance. Thus,  provide explicitly all the singular strata and their connectivity, which apply to all flagged manipulators without any tailoring. Second, the strata can be easily characterized geometrically, because it is possible to assign local coordinates to each stratum (in the configuration space of the manipulator) that correspond to uncoupled rotations and/or translations in the workspace."}]