Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators

Mazen Zein (1) , Philippe Wenger (1) , Damien Chablat (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

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.

Mots clés: 3-RPR parallel manipulators; singularity; singularity-free zones; joint space; joint limits

Domaines: Robotique [cs.RO]

Mazen Zein, Philippe Wenger, Damien Chablat. Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators. Jun 2007, Besançon, France. pp.1-6. ⟨hal-00145398⟩