A Case Study of Planar 3-RPR Parallel Robot Singularity Free Workspace Design

摘要

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.