Non-singular assembly-mode changing motions for 3-RPR parallel manipulators
نویسندگان
چکیده
منابع مشابه
Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators
When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be simply detected, the actual assembly-mode during motion is difficult to track. This paper proposes a global explanatory approach to help better understand non-singular assembly-mode changing motions for...
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When the leg rods of a fully in-parallel manipulator are fixed in their lengths, it is usual that the device can be assembled in several distinct ways. Sometimes it happens that motion between such assemblies can take place such that the linkage is never at a special configuration; that is, a configuration where the moving-platform body acquires uncontrollable freedom relative to the base. The ...
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Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a cusp point in the joint space. In this paper, the aspects and the characteristic surfaces are computed for each operation mode to define the uniqueness of the domains. Thus, we can easily see in the workspace that at...
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This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points play an important role in the kinematic behavior of parallel manipulators since they make possible a nonsingular change of assembly mode. The purpose of this study is twofold. First, it...
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 2008
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2007.03.011