Cusp points in the parameter space of RPR-2PRR parallel manipulator

This paper investigates the existence conditions of cusp po ints in the design parameter space of the RP R-2PRR parallel manipulators. Cusp points make possible non-sin gular assemblymode changing motion, which can possibly increase the size o f the aspect, i.e. the maximum singularity free workspace. The method used is based on the noti on f discriminant varieties and Cylindrical Algebraic Decomposition, and resorts to Gröb ner bases for the solutions of systems of equations.

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