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cs.RO2016
Hidden cusps
Michel Coste, Philippe Wenger, Damien Chablat
This paper investigates a situation pointed out in a recent paper, in which a non-singular change of assembly mode of a planar 2-RPR-PR parallel manipulator was realized by encircl…
cs.RO2011
Singular surfaces and cusps in symmetric planar 3-RPR manipulators
Michel Coste, Philippe Wenger, Damien Chablat
We study in this paper a class of 3-RPR manipulators for which the direct kinematic problem (DKP) is split into a cubic problem followed by a quadratic one. These manipulators are…