arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 0809.3384cs.RO

Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots

École de technologie supérieure（高等技术学院）；Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）

Ilian Bonev, Sébastien Briot, Philippe Wenger, Damien Chablat

备注：
2nd International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Montpellier : France (2008)
阅读 PDF
arXiv 页面 ↗HTML 原文 ↗

英文摘要：

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 (configurations where the mobile platform loses its stiffness). While the results are purely theoretical, this paper questions the very definition of parallel singularities.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

↑