A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes

Details A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes

2011-06-06

arxiv.org/abs/1106.0989v1

Computer Science

Robotics

4th International Congress Design and Modeling of Mechanical Systems, Sousse : Tunisia (2011)

Scientific paper

Cusps and nodes on plane sections of the singularity locus in the joint space of parallel manipulators play an important role in nonsingular assembly-mode changing motions. This paper analyses in detail such points, both in the joint space and in the workspace. It is shown that a cusp (resp. a node) defines a point of tangency (resp. a crossing point) in the workspace between the singular curves and the curves associated with the so-called characteristics surfaces. The study is conducted on a planar 3-RPR manipulator for illustrative purposes.

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