Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underlinePR Planar Parallel Robots

2008/09/19 by Ilian A. Bonev, Ilian Bonev, Bonev, Ilian +6
Computer Science · Engineering · #Advanced Surface Polishing Techniques #Modular Robots and Swarm Intelligence #Robotic Mechanisms and Dynamics #cs.RO

paper · pdf · doi:10.48550/arxiv.0809.3384

2nd International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Montpellier : France (2008)

arxiv created 2008/09/19 · arxiv updated 2009/12/01

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.

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