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

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

2007-11-05

arxiv.org/abs/0711.0574v1

Robotica 25, 6 (2007) 717-724

Computer Science

Robotics

Scientific paper

10.1017/S0263574707003785

This 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.

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