Perturbation of symmetric 3-RPR manipulators and asymptotic singularities

Michel Coste (1) , Damien Chablat (2) , Philippe Wenger (3)

1 IRMAR - Institut de Recherche Mathématique de Rennes
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
3 Robotique

Small perturbations can affect the kinematic properties of manipulators with non-generic architecture. We study in this paper the perturbations of symmetric planar 3-RPR manipulators. We show in particular that one can obtain any of the three possible stable types of behaviour of 3-RPR manipulators for large values of the lengths of the legs.

Mots clés: Robots parallèles; singularités; perturbation

Domaines: Automatique / Robotique; Géométrie algébrique [math.AG]

Michel Coste, Damien Chablat, Philippe Wenger. Perturbation of symmetric 3-RPR manipulators and asymptotic singularities. F. Viadero, M. Ceccarelli. New Trends in Mechanism and Machine Science, Springer, pp.23--31, 2012, Mechanisms and Machine Science vol. 7, 978-94-007-4901-6. ⟨10.1007/978-94-007-4902-3⟩. ⟨hal-00674039⟩