Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots

Ilian Bonev (1) , Sébastien Briot (1) , Philippe Wenger (2) , Damien Chablat (2)

1 GPA - Département de génie de la production automatisée
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where the mobile platform loses its stiffness). While the results are purely theoretical, this paper questions the very definition of parallel singularities.

Mots clés: Singular configurations; assembly modes; cusp point; parallel mechanism; parallel robot; working mode

Domaines: Robotique [cs.RO]

Ilian Bonev, Sébastien Briot, Philippe Wenger, Damien Chablat. Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots. 2nd International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Sep 2008, Montpellier, France. pp.1-4. ⟨hal-00323101⟩