Determination of Singularity-Free Zones in the Workspace of Planar 3-P̱RR Parallel Mechanisms

[+] Author and Article Information
Mehdi Tale Masouleh

Département de génie mécanique, Université Laval, Québec, QC, Canada, G1K 7P4mehdi.tale-masouleh.1@ulaval.ca

Clément Gosselin1

Département de génie mécanique, Université Laval, Québec, QC, Canada, G1K 7P4gosselin@gmc.ulaval.ca


Author to whom correspondence should be addressed.

J. Mech. Des 129(6), 649-652 (Jun 05, 2006) (4 pages) doi:10.1115/1.2717234 History: Received November 10, 2005; Revised June 05, 2006

This paper presents an algorithm for the determination of singularity-free zones in the workspace of the planar 3-P̱RR mechanism. The mathematical derivation of the algorithm is first given. Numerical examples are then included to demonstrate the application of the proposed approach.

Copyright © 2007 by American Society of Mechanical Engineers
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Grahic Jump Location
Figure 4

Singularity-free zone for all working modes: (a) ϕ=0, and (b) ϕ=5π∕18

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Figure 3

Simplified symmetric design of a 3-P̱RR architecture planar parallel manipulator

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Figure 2

Geometric modeling for the determination of the singularity-free region in polar coordinates

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Figure 1

Geometric model of the 3-P̱RR planar parallel manipulator




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