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Advances in Robot Kinematics: Motion in Man and Machine pp 45–52Cite as

Researching into Non-Singular Transitions in the Joint Space

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Abstract

It is known that cuspidality phenomenon appears in some parallel manipulators, called cuspidal manipulators, being able to perform non-singular transitions between different assembly modes. In this paper, the authors will present a methodology for obtaining the locus of cusp points in the joint space, which will be applied to generic 3-RPR planar parallel manipulators. This will permit analyzing non-singular transitions in a slice of the joint space and in the 3-dimensional joint space. It will be shown that as well as encircling a cusp point, analyzing the coalescence of solutions in the singular curves will be necessary so as to perform non-singular transitions.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of the Basque Country, Alameda de Urquijo s/n, 48013, Bilbao, Spain

    M. Urízar, V. Petuya, O. Altuzarra & A. Hernández

Authors
  1. M. Urízar
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  2. V. Petuya
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  3. O. Altuzarra
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  4. A. Hernández
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Corresponding author

Correspondence to M. Urízar .

Editor information

Editors and Affiliations

  1. Inst. J. Stefan, University Ljubljana, Ljubljana, Slovenia

    Jadran Lenarcic

  2. , Aerospace and Mechanical Engineering, University of Notre Dame, Fitzpatrick Hall 365, Notre Dame, 46556-5637, USA

    Michael M. Stanisic

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Urízar, M., Petuya, V., Altuzarra, O., Hernández, A. (2010). Researching into Non-Singular Transitions in the Joint Space. In: Lenarcic, J., Stanisic, M. (eds) Advances in Robot Kinematics: Motion in Man and Machine. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9262-5_5

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  • DOI: https://doi.org/10.1007/978-90-481-9262-5_5

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-90-481-9261-8

  • Online ISBN: 978-90-481-9262-5

  • eBook Packages: EngineeringEngineering (R0)

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