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Perturbation of symmetric 3-RPR manipulators and asymptotic singularities

Mechanisms and Machine Science (2013) 7 23-31
DOI: 10.1007/978-94-007-4902-3_3
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Abstract

Small perturbations can affect the kinematic properties of manipulators with non-generic architecture.We study in this paper the perturbations of symmetric planar 3-RPR manipulators. We show in particular that one can obtain any of the three possible stable types of behaviour of 3-RPR manipulators for large values of the lengths of the legs. © Springer Science+Business Media Dordrecht 2013.

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Coste, M., Chablat, D., & Wenger, P. (2013). Perturbation of symmetric 3-RPR manipulators and asymptotic singularities. In Mechanisms and Machine Science (Vol. 7, pp. 23–31). Kluwer Academic Publishers. https://doi.org/10.1007/978-94-007-4902-3_3

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