Related papers: Degeneracy study of the forward kinematics of plan…
A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the plane. The forward kinematics is reduced…
This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their…
The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the singular configuration is characterized. On…
This paper investigates the cuspidal configurations of 3-RPR parallel manipulators that may appear on their singular surfaces in the joint space. Cusp points play an important role in the kinematic behavior of parallel manipulators since…
Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical plane. Knowing the motion of the…
This paper investigates singular configurations of planar 3-RPR parallel manipulators, which result from applying the averaging technique to solution pairs of their direct kinematic problem. Without computing the zeros of the corresponding…
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which…
This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which appear on the singular curves of the…
This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points…
This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points play an important role in…
In this article we construct a specific projective degeneration of K3 surfaces of degree 2g-2 in P^g to a union of 2g-2 planes, which meet in such a way that the combinatorics of the configuration of planes is a triangulation of the…
The degeneracy of central configurations in the planar $N$-body problem makes their enumeration problem hard and the related dynamics appealing. To truly understand the bifurcations of central configurations, we should work in the FULL…
We present a detailed exploration of certain outstanding features of the transversely-projected three-gluon vertex, using the corresponding Schwinger-Dyson equation in conjunction with key results obtained from quenched lattice simulations.…
This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to…
Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but…
Previously [1] it was shown that for a configuration of 2 protons and 2 neutrons in the g_{9/2}shell there is a certain degeneracy that occurs when the quadrupole-quadrupole interaction (Q.Q) is used to to obtain the wave functions.. We…
Recursive matrix relations for the complete dynamics of a 3-PRP planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of…
We study determining the posture of an in-parallel planar manipulator, which has three connectors composed of revolute, prismatic and revolute joints, from specified active joint variables. We construct an ideal in the field of complex…
When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be simply detected, the actual assembly-mode…
A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity…