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

Damien Chablat (IRCCyN); Ilian Bonev (GPA); Philippe Wenger (IRCCyN); S\'ebastien Briot (GPA)

arxiv: 0809.3384 · v1 · submitted 2008-09-19 · 💻 cs.RO

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

Ilian Bonev (GPA) , S\'ebastien Briot (GPA) , Philippe Wenger (IRCCyN) , Damien Chablat (IRCCyN) This is my paper

classification 💻 cs.RO

keywords parallelsingularitiesassemblymodespassingplanarwithoutchange

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This 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.

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

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