Increase of singularity-free zones in the workspace of parallel manipulators using mechanisms of variable structure

This paper is focused on the study of singularity of planar parallel manipulators taking into account the force transmission, i.e. study of singularity of planar manipulator by introducing the force transmission factor. Thus the singularity zones in the workspace of the manipulator are defined not only by kinematic criterions from the theoretical perfect model of the manipulator but also by the quality of force transmission. For this purpose, the pressure angle is used as an indicator of force transmission. The optimal control of the pressure angle for a given trajectory of the manipulator is realized by means of legs with variable structure. The suggested procedure to determination of the optimal structure of the planar parallel manipulator 3-RPR is illustrated by two numerical simulations.