Non-singular assembly-mode changing motions for 3-R{\b P}R parallel manipulators

DOI10.1016/j.mechmachtheory.2007.03.011zbMath1210.70005OpenAlexW2086195897WikidataQ57086230 ScholiaQ57086230MaRDI QIDQ2480960

Damien Chablat, Mazen Zein, Philippe Wenger

Publication date: 7 April 2008

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2007.03.011

zbMATH Keywords

configuration spacecusp pointactuated joints

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (4)

Degeneracy conditions of the dynamic model of parallel robots ⋮ Design procedure for cuspidal parallel manipulators ⋮ Characterizing the configuration space of the 3-SPS-S spatial orientation parallel manipulator ⋮ Real monodromy action

Cites Work

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• Parallel robots
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• An exhaustive study of the workspace topologies of all 3R orthogonal manipulators with geometric simplifications
• Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms
• The Synthesis of Three-Degree-of-Freedom Planar Parallel Mechanisms with Revolute Joints (3-RRR) for an Optimal Singularity-Free Workspace
• The Isotropic Design of Two General Classes of Planar Parallel Manipulators

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