LOCOMOTION
Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-RPR Planar Parallel Robots
Ilian A. Bonev, Ebastien Briot, Philippe Wenger, Damien Chablat
- Year
- 2008
- Citations
- 5
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. 1.
Keywords
Gravitational singularityPlanarParallel manipulatorRobotComputer scienceTopology (electrical circuits)Parallel computingMathematicsComputer graphics (images)Combinatorics
Related papers
OTHER
📊 26,957 cites
Statistical Learning Theory
Yuhai Wu, Vladimir Vapnik
1999
PERCEPTION
📊 22,245 cites
Artificial intelligence: a modern approach
1995
OTHER
Open access📊 20,501 cites
Fractional Differential Equations
Igor Podlubný
2025
OTHER
📊 18,993 cites
Applied Nonlinear Control
Jean-Jacques Slotine, Weiping Li
1991