6 research outputs found
Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots
This paper demonstrates that any general 3-DOF three-legged planar parallel
robot with extensible legs can change assembly modes without passing through
parallel singularities (configurations where the mobile platform loses its
stiffness). While the results are purely theoretical, this paper questions the
very definition of parallel singularities.Comment: 2nd International Workshop on Fundamental Issues and Future Research
Directions for Parallel Mechanisms and Manipulators, Montpellier : France
(2008
Design of a 3 DOFs parallel actuated mechanism for a biped hip joint
Proceedings of the 2002 IEEE International Conference on Robotics & Automation, Washington, DC, May 200
Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators
In this paper, a method to compute joint space singularity surfaces of 3-RPR
planar parallel manipulators is first presented. Then, a procedure to determine
maximal joint space singularity-free boxes is introduced. Numerical examples
are given in order to illustrate graphically the results. This study is of high
interest for planning trajectories in the joint space of 3-RPR parallel
manipulators and for manipulators design as it may constitute a tool for
choosing appropriate joint limits and thus for sizing the link lengths of the
manipulator