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TECHNICAL PAPERS

Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory

[+] Author and Article Information
Ilian A. Bonev, Dimiter Zlatanov, Clément M. Gosselin

Département de Génie Mécanique, Université Laval, Québec, QC, Canada G1K 7P4

J. Mech. Des 125(3), 573-581 (Sep 04, 2003) (9 pages) doi:10.1115/1.1582878 History: Received July 01, 2001; Revised October 01, 2002; Online September 04, 2003
Copyright © 2003 by ASME
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References

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Figures

Grahic Jump Location
The basic 3-DOF PPMs with identical legs
Grahic Jump Location
Reciprocal screw for (a) two passive R joints and (b) one passive R joint and one passive P joint
Grahic Jump Location
A 3-DOF PPM of type 3-RPR or 3-RPR
Grahic Jump Location
Singularity loci of a 3-RPR PPM for all working modes
Grahic Jump Location
A 3-DOF PPM of type 3-RRR or 3-RRR
Grahic Jump Location
A 3-DOF PPM of type 3-PRR or 3-PRR
Grahic Jump Location
Singularity loci of a 3-PRR PPM for all working modes
Grahic Jump Location
A 3-DOF PPM of type 3-RPP or 3-RPP
Grahic Jump Location
A 3-DOF PPM of type 3-RRP
Grahic Jump Location
Singularity loci of a 3-RRP PPM for all working modes
Grahic Jump Location
A 3-DOF PPM of type 3-PRP
Grahic Jump Location
An example showing (a) an RPaR chain and (b) its kinematically equivalent RRR chain

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