Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
800018 | Mechanism and Machine Theory | 2008 | 11 Pages |
Abstract
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 3-RPR planar parallel manipulators. The approach consists in fixing one of the actuated joints and analyzing the configuration-space as a surface in a three-dimensional space. Such a global description makes it possible to display all possible non-singular assembly-mode changing trajectories.
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Industrial and Manufacturing Engineering
Authors
Mazen Zein, Philippe Wenger, Damien Chablat,