| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 804945 | Mechanism and Machine Theory | 2010 | 13 Pages |
Abstract
A method to design a singularity-free 3-arm planar parallel mechanism is presented. Single-arm and two-arm singularities are addressed for design purposes. A sequential design procedure is explained, whereby two arms are designed first to satisfy workspace requirements, then the third arm is designed to provide a singularity-free workspace. The method is used to develop a singularity-free workspace design for the 3-RPR mechanism.
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Industrial and Manufacturing Engineering
Authors
Yawei Yang, John F. O'Brien,