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

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

2008-03-08

arxiv.org/abs/0803.1221v1

Mechanism and Machine Theory 23, 4 (2008) 480-490

Computer Science

Robotics

Scientific paper

When 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.

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