Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators

Simple item page
dc.creatorZein, Mazen
dc.creatorWenger, Philippe
dc.creatorChablat, Damien
dc.date2007-05-10
dc.date.accessioned2026-07-07T08:00:36Z
dc.date.available2026-07-07T08:00:36Z
dc.descriptionIn this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes is introduced. Numerical examples are given in order to illustrate graphically the results. This study is of high interest for planning trajectories in the joint space of 3-RPR parallel manipulators and for manipulators design as it may constitute a tool for choosing appropriate joint limits and thus for sizing the link lengths of the manipulator.
dc.identifierhttps://arxiv.org/abs/0705.1409
dc.identifierhttp://arxiv.org/abs/0705.1409
dc.identifier12th World Congress in Mechanism and Machine Science (18/06/2007) 1-6
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/128706
dc.subjectRobotics
dc.titleSingularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators
dc.typetext

Files

Collections

arXiv