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




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

* Corresponding author 1 GPA - Département de génie de la production automatisée 2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

Abstract : 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.

Keywords : Singular configurations assembly modes cusp point parallel mechanism parallel robot working mode





Author: Ilian Bonev - Sébastien Briot - Philippe Wenger - Damien Chablat -

Source: https://hal.archives-ouvertes.fr/



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