In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes is introduced. Numerical examples are given in order to illustrate graphically the results. This study is of high interest for planning trajectories in the joint space of 3-RPR parallel manipulators and for manipulators design as it may constitute a tool for choosing appropriate joint limits and thus for sizing the link lengths of the manipulator.
Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators
Institut de Robòtica i Informàtica Industrial, CSIC - UPC（工业机器人与信息学研究所，西班牙国家研究委员会-加泰罗尼亚理工大学）；INRIA Nancy-Grand Est（法国国家信息与自动化研究所南锡-大东部研究中心）；Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）；INRIA Paris-Rocquencourt（法国国家信息与自动化研究所巴黎-罗克库尔研究中心）；Université Pierre et Marie Curie Paris VI（巴黎第六大学皮埃尔和玛丽·居里大学）
Singular surfaces and cusps in symmetric planar 3-RPR manipulators
Institut de Recherche Mathématique de Rennes（雷恩数学研究所）；Université de Rennes I（雷恩第一大学）；Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）
CNRS（法国国家科学研究中心）；University of the West of Scotland（西苏格兰大学）
This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanismis an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the threelegs is replaced by a scissor to obtain a larger working space and avoid the use of parallelograms to operate thesecond revolute joint. To obtain better spatial rigidity, the leg mechanism is constructed by placing the scissorsin an orthogonal plane to the plane of the manipulator displacement (3-RRR or even the 3-RPR). This geometricproperty brings the significant consequence of al…
The University of Texas at Austin（德克萨斯大学奥斯汀分校）；Argonne National Laboratory（阿贡国家实验室）
In nuclear isotope and chemistry laboratories, hot cells and gloveboxes provide scientists with a controlled and safe environment to perform experiments. Working on experiments in these isolated containment cells requires scientists to be physically present. For hot cell work today, scientists manipulate equipment and radioactive material inside through a bilateral mechanical control mechanism. Motions produced outside the cell with the master control levers are mechanically transferred to the internal grippers inside the shielded containment cell. There is a growing need to have the capabilit…
