Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators

TL;DR

This paper introduces a global analysis method for understanding non-singular assembly-mode changes in 3-RPR parallel manipulators by examining the configuration space as a 3D surface, aiding in trajectory visualization.

Contribution

It proposes a novel global explanatory approach that fixes an actuated joint and analyzes the configuration space to visualize all non-singular assembly-mode changing trajectories.

Findings

Displays all possible non-singular assembly-mode changing trajectories.

Provides a global surface-based description of configuration space.

Enhances understanding of assembly-mode changes without crossing singularities.

Abstract

When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be simply detected, the actual assembly-mode during motion is difficult to track. This paper proposes a global explanatory approach to help better understand non-singular assembly-mode changing motions for 3-RPR planar parallel manipulators. The approach consists in fixing one of the actuated joints and analyzing the configuration-space as a surface in a 3-dimensional space. Such a global description makes it possible to display all possible non-singular assembly-mode changing trajectories.