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New Trends in Mechanism and Machine Science pp 23–31Cite as

Perturbation of Symmetric 3-RPR Manipulators and Asymptotic Singularities

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 7))

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-R\(\underline{\mathrm{P}}\)R manipulators. We show in particular that one can obtain any of the three possible stable types of behaviour of 3-R\(\underline{\mathrm{P}}\)R manipulators for large values of the lengths of the legs.

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Authors and Affiliations

  1. Université de Rennes 1, Rennes, France

    Michel Coste

  2. IRCCyN, Nantes, France

    Damien Chablat & Philippe Wenger

Authors
  1. Michel Coste
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  2. Damien Chablat
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  3. Philippe Wenger
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Corresponding author

Correspondence to Michel Coste .

Editor information

Editors and Affiliations

  1. , Structural and Mechanical Engineering, University of Cantabria, Avenida de los Castros, Santander, 39005, Spain

    Fernando Viadero

  2. , Laboratory of Robotics & Mechatronics, University of Cassino, Via di Biasio 43, Cassino, 03043, Italy

    Marco Ceccarelli

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Coste, M., Chablat, D., Wenger, P. (2013). Perturbation of Symmetric 3-RPR Manipulators and Asymptotic Singularities. In: Viadero, F., Ceccarelli, M. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 7. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4902-3_3

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  • DOI: https://doi.org/10.1007/978-94-007-4902-3_3

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-4901-6

  • Online ISBN: 978-94-007-4902-3

  • eBook Packages: EngineeringEngineering (R0)

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