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Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators

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.
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https://hal.archives-ouvertes.fr/hal-00261669
Contributor : Damien Chablat <>
Submitted on : Friday, March 7, 2008 - 10:23:42 PM
Last modification on : Friday, August 16, 2019 - 11:00:21 AM
Long-term archiving on: : Friday, May 21, 2010 - 12:03:03 AM

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Mazen Zein, Philippe Wenger, Damien Chablat. Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators. Mechanism and Machine Theory, Elsevier, 2008, 23 (4), pp.480-490. ⟨10.1016/j.mechmachtheory.2007.03.011⟩. ⟨hal-00261669⟩

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