Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots
Robotics
2008-09-22 v1
Abstract
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.
Cite
@article{arxiv.0809.3384,
title = {Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots},
author = {Ilian Bonev and Sébastien Briot and Philippe Wenger and Damien Chablat},
journal= {arXiv preprint arXiv:0809.3384},
year = {2008}
}
Comments
2nd International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Montpellier : France (2008)