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

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dc.creatorZein, Mazen
dc.creatorWenger, Philippe
dc.creatorChablat, Damien
dc.date2008-03-08
dc.date.accessioned2026-07-07T12:17:30Z
dc.date.available2026-07-07T12:17:30Z
dc.descriptionWhen 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.
dc.identifierhttps://arxiv.org/abs/0803.1221
dc.identifierhttp://arxiv.org/abs/0803.1221
dc.identifierMechanism and Machine Theory 23, 4 (2008) 480-490
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/212096
dc.subjectRobotics
dc.subjectClassical Physics
dc.titleNon-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators
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