Asymptotic singularities of planar parallel 3-RPR manipulators

Abstract : We study the limits of singularities of planar parallel 3-RPR manipulators as the lengths of their legs tend to infinity, paying special attention to the presence of cusps. These asymptotic singularities govern the kinematic behavior of the manipulator in a rather large portion of its workspace.
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Jadran Lenarcic, Manfred Husty. Latest Advances in Robot Kinematics, Springer, pp.35-42, 2012, 978-94-007-4619-0. <10.1007/978-94-007-4620-6>


https://hal.archives-ouvertes.fr/hal-00656460
Contributor : Michel Coste <>
Submitted on : Friday, February 24, 2012 - 12:34:39 PM
Last modification on : Friday, March 27, 2015 - 9:59:32 AM

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Michel Coste. Asymptotic singularities of planar parallel 3-RPR manipulators. Jadran Lenarcic, Manfred Husty. Latest Advances in Robot Kinematics, Springer, pp.35-42, 2012, 978-94-007-4619-0. <10.1007/978-94-007-4620-6>. <hal-00656460v2>

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