Non-singular assembly mode change in 3-RPR-parallel manipulators [chapter]

Manfred L. Husty
2009 Computational Kinematics  
Non singular assembly mode change of parallel manipulators has been discussed for a while within the robotics community. This term means that a parallel robot can pass from one solution of the direct kinematics into another without crossing a singularity. In this paper we will show that opposed to the accepted opinion all general planar 3-RPR parallel manipulators have this ability. Using geometric properties of the singularity surface of this manipulator we will give a rigorous mathematical
more » ... ous mathematical proof for this proposition. This proof will use the fact that the singularity surface is a fourth order surface having only very special singularities. A secondary result of this proof will be the first proof for the widespread used property that the singularity surface divides the workspace of the manipulator into two aspects that are path connected. We derive a simple technique how to construct singularity free trajectories that join all assembly modes of one connected component.
doi:10.1007/978-3-642-01947-0_7 fatcat:se4vqpsuk5ettfqio3cfutwvh4