Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-Runderline{P}R Planar Parallel Robots - Computer Science > RoboticsReport as inadecuate




Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-Runderline{P}R Planar Parallel Robots - Computer Science > Robotics - Download this document for free, or read online. Document in PDF available to download.

Abstract: This paper demonstrates that any general 3-DOF three-legged planar parallelrobot with extensible legs can change assembly modes without passing throughparallel singularities configurations where the mobile platform loses itsstiffness. While the results are purely theoretical, this paper questions thevery definition of parallel singularities.



Author: Ilian Bonev GPA, Sébastien Briot GPA, Philippe Wenger IRCCyN, Damien Chablat IRCCyN

Source: https://arxiv.org/







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