Perturbation of symmetric 3-RPR manipulators and asymptotic singularities

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

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

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: Parallel manipulators; singularities; perturbation

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

Michel Coste, Damien Chablat, Philippe Wenger. Perturbation of symmetric 3-RPR manipulators and asymptotic singularities. 2012. ⟨hal-00656460v1⟩