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cs.RO2014
Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot
Damien Chablat, Ranjan Jha, Fabrice Rouillier +1
Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a…
cs.RO2012
Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators
Montserrat Manubens, Guillaume Moroz, Damien Chablat +2
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possibl…