Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-RPR Planar Parallel Robots

This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs ca n change assembly modes without passing through parallel sin gu- larities (configurations where the mobile platform loses it s stiff- ness). While the results are purely theoretical, this paperques- tions the very definition of parallel singularities.

[1]  Ilian A. Bonev,et al.  Towards development of a 2-DOF planar oparallel robot with optimal workspace use , 2007, 2007 IEEE International Conference on Systems, Man and Cybernetics.

[2]  Alon Wolf,et al.  Assembly Mode Changing in Parallel Mechanisms , 2008, IEEE Transactions on Robotics.

[3]  Damien Chablat,et al.  Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles , 2001, ArXiv.

[4]  Roger Boudreau,et al.  The Synthesis of Three-Degree-of-Freedom Planar Parallel Mechanisms with Revolute Joints (3-RRR) for an Optimal Singularity-Free Workspace , 2004, J. Field Robotics.

[5]  C. Innocenti,et al.  Singularity-Free Evolution From One Configuration to Another in Serial and Fully-Parallel Manipulators , 1998 .

[6]  C. Gosselin,et al.  Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory , 2003 .

[7]  Anjan Kumar Dash,et al.  Singularity-free path planning of parallel manipulators using clustering algorithm and line geometry , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[8]  Jean-Pierre Merlet.  Trajectory Verification in the Workspace for Parallel Manipulators , 1994, Int. J. Robotics Res..

[9]  Damien Chablat,et al.  Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the orthoglide , 2003, IEEE Trans. Robotics Autom..

[10]  Clément Gosselin,et al.  Determination of the maximal singularity-free zones in the six-dimensional workspace of the general Gough-Stewart platform , 2007 .

[11]  Damien Chablat,et al.  Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators , 2008, ArXiv.

[12]  R. W. Daniel,et al.  An Explanation of Never-Special Assembly Changing Motions for 3–3 Parallel Manipulators , 1999, Int. J. Robotics Res..

[13]  Damien Chablat,et al.  Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study , 2007, ArXiv.

[14]  K. H. Hunt,et al.  Assembly configurations of some in-parallel-actuated manipulators , 1993 .

[15]  C. Gosselin,et al.  On the quadratic nature of the singularity curves of planar three-degree-of-freedom parallel manipulators , 1995 .

[16]  C. Gosselin,et al.  Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms , 2006 .

[17]  Charles Pinto,et al.  Transitions between Multiple Solutions of the Direct Kinematic Problem , 2008 .