By parametrizing input pairs and selecting relative orientations of solution pairs to the direct kinematic problem, the authors increase the flexion order of averaged singular configurations in planar 3-RPR manipulators without computing the degree-6 polynomial zeros.
As ssplits up into the follow factors b2, b 3, a 5 −a 6,2f 0l1 +f 1, we have to distinguish the following cases
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Higher-Order Flexible Configurations of Planar Parallel Manipulators Constructed by Averaging
By parametrizing input pairs and selecting relative orientations of solution pairs to the direct kinematic problem, the authors increase the flexion order of averaged singular configurations in planar 3-RPR manipulators without computing the degree-6 polynomial zeros.