OTHER
A Case Study of Planar 3-RPR Parallel Robot Singularity Free Workspace Design
Yawei Yang, John F. O’Brien
- Year
- 2007
- Citations
- 20
Abstract
A method to design a singularity-free planar 3-RPR planar parallel mechanism is presented. All the singular configurations of planar 3-RPR planar parallel mechanism are identified and categorized for design purposes. The location of the third base joint is taken as the design variable. A sequential design procedure is presented. And a solution set for the design variable is found.
Keywords
WorkspacePlanarComputer scienceSingularityRobotArtificial intelligenceComputer graphics (images)MathematicsGeometry
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