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Singular curves in the joint space and cusp points of 3-RPR parallel manipulators

Published online by Cambridge University Press:  01 November 2007

Mazen Zein ,
Philippe Wenger  and
Damien Chablat
Mazen Zein*
Affiliation:
Institut de Recherche en Communications et Cybernétique de Nantes UMR CNRS 6597, 44312 Nantes Cedex 03, France.
Philippe Wenger
Affiliation:
Institut de Recherche en Communications et Cybernétique de Nantes UMR CNRS 6597, 44312 Nantes Cedex 03, France.
Damien Chablat
Affiliation:
Institut de Recherche en Communications et Cybernétique de Nantes UMR CNRS 6597, 44312 Nantes Cedex 03, France.
*
*Corresponding author. E-mail: Mazen.Zein@irccyn.ec-nantes.fr
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Summary

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 exposes a method to compute joint space singular curves of 3-RPR planar parallel manipulators. Second, it presents an algorithm for detecting and computing all cusp points in the joint space of these same manipulators.

Type
Article
Information
Robotica , Volume 25 , Issue 6 , November 2007 , pp. 717 - 724
Copyright
Copyright © Cambridge University Press 2007

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