Topology of the singularities of 3-RPR planar parallel robots

DOI10.1016/j.cagd.2022.102150OpenAlexW4297176514MaRDI QIDQ2100029

Jose Capco, Christoforos Spartalis

Publication date: 21 November 2022

Published in: Computer Aided Geometric Design (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.cagd.2022.102150

zbMATH Keywords

singularitiesinverse kinematicsconic fibrations3-RPR parallel robots

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Computational real algebraic geometry (14Q30)

Related Items (1)

A fast forward kinematics algorithm based on planar quaternion solution for a class of 3-DoF planar parallel mechanisms

Cites Work

• Unnamed Item
• Classification of all self-motions of the original Stewart-Gough platform
• Del Pezzo surfaces as hyperplane sections
• Forward displacement analysis of third-class analytic 3-RPR planar parallel manipulators
• Parallel robots.
• The Jordan-Brouwer Separation Theorem for Smooth Hypersurfaces
• Rationality of the Locus of Singularities of the General Gough--Stewart Platform

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