Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators
Robotics
2008-12-18 v1 Classical Physics
Abstract
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 during motion is difficult to track. This paper proposes a global explanatory approach to help better understand non-singular assembly-mode changing motions for 3-RPR planar parallel manipulators. The approach consists in fixing one of the actuated joints and analyzing the configuration-space as a surface in a 3-dimensional space. Such a global description makes it possible to display all possible non-singular assembly-mode changing trajectories.
Keywords
Cite
@article{arxiv.0803.1221,
title = {Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators},
author = {Mazen Zein and Philippe Wenger and Damien Chablat},
journal= {arXiv preprint arXiv:0803.1221},
year = {2008}
}