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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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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