2 papers
cs.RO2008
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…
cs.RO2007
Parametric stiffness analysis of the Orthoglide
Félix Majou, Clément Gosselin, Philippe Wenger +1
This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple sy…