3 citations
4 papers
Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots
Ilian Bonev, Sébastien Briot, Philippe Wenger +1
This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (con…
Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation
Novona Rakotomanga, Damien Chablat, Stéphane Caro
This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetost…
Working and Assembly Modes of the Agile Eye
Ilian Bonev, Damien Chablat, Philippe Wenger
This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with rev…
Kinematic analysis of the 3-RPR parallel manipulator
Damien Chablat, Philippe Wenger, Ilian Bonev
The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as…