Asymptotic singularities of planar parallel 3-RPR manipulators

Michel Coste (1)

1 IRMAR - Institut de Recherche Mathématique de Rennes

We study the limits of singularities of planar parallel 3-RPR manipulators as the lengths of their legs tend to infinity, paying special attention to the presence of cusps. These asymptotic singularities govern the kinematic behavior of the manipulator in a rather large portion of its workspace.

Mots clés: Robots parallèles; singularités

Domaines: Automatique / Robotique; Géométrie algébrique [math.AG]

Michel Coste. Asymptotic singularities of planar parallel 3-RPR manipulators. Jadran Lenarcic, Manfred Husty. Latest Advances in Robot Kinematics, Springer, pp.35-42, 2012, 978-94-007-4619-0. ⟨10.1007/978-94-007-4620-6⟩. ⟨hal-00656460v2⟩