Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators

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dc.creatorZein, Mazen
dc.creatorWenger, Philippe
dc.creatorChablat, Damien
dc.date2007-11-05
dc.date.accessioned2026-07-07T08:40:39Z
dc.date.available2026-07-07T08:40:39Z
dc.descriptionThis paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points play an important role in the kinematic behavior of parallel manipulators since they make possible a nonsingular change of assembly mode. The purpose of this study is twofold. First, it exposes a method to compute joint space singular curves of 3-RPR planar parallel manipulators. Second, it presents an algorithm for detecting and computing all cusp points in the joint space of these same manipulators.
dc.identifierhttps://arxiv.org/abs/0711.0574
dc.identifierhttp://arxiv.org/abs/0711.0574
dc.identifierRobotica 25, 6 (2007) 717-724
dc.identifierdoi:10.1017/S0263574707003785
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/141432
dc.subjectRobotics
dc.titleSingular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators
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