Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots

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dc.creatorBonev, Ilian
dc.creatorBriot, Sébastien
dc.creatorWenger, Philippe
dc.creatorChablat, Damien
dc.date2008-09-19
dc.date.accessioned2026-07-07T10:04:03Z
dc.date.available2026-07-07T10:04:03Z
dc.descriptionThis paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where the mobile platform loses its stiffness). While the results are purely theoretical, this paper questions the very definition of parallel singularities.
dc.description2nd International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Montpellier : France (2008)
dc.identifierhttps://arxiv.org/abs/0809.3384
dc.identifierhttp://arxiv.org/abs/0809.3384
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/169523
dc.subjectRobotics
dc.titleChanging Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots
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