Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators
Robotics
2007-05-23 v1
Abstract
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.
Keywords
Cite
@article{arxiv.0705.1409,
title = {Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators},
author = {Mazen Zein and Philippe Wenger and Damien Chablat},
journal= {arXiv preprint arXiv:0705.1409},
year = {2007}
}