Abstract
We study the limits of singularities of planar parallel 3-RPR manipulators as the lengths of their legs tend to infinity, paying special attention to the presence of cusps. These asymptotic singularities govern the kinematic behaviour of the manipulator in a rather large portion of its workspace.
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Coste, M. (2012). Asymptotic Singularities of Planar Parallel 3-RPR Manipulators. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_5
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DOI: https://doi.org/10.1007/978-94-007-4620-6_5
Publisher Name: Springer, Dordrecht
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