The 3-RPS Manipulator Can Have Non-Singular Assembly-Mode Changes

  • Manfred Husty
  • Josef Schadlbauer
  • Stéphane Caro
  • Philippe WengerEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


Recently a complete kinematic description of the \(3\)-RPS parallel manipulator was obtained using algebraic constraint equations. It turned out that the workspace decomposes into two components describing two kinematically different operation modes and that self-motions of this manipulator in both operation are possible. In this paper for the first time it is shown that this manipulator has the property of non singular assembly mode change.


3-RPS-manipulator Singularities Assembly mode change 


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • Manfred Husty
    • 1
  • Josef Schadlbauer
    • 1
  • Stéphane Caro
    • 2
  • Philippe Wenger
    • 2
    Email author
  1. 1.Institute for Basic Sciences in Engineering, Unit for Geometry and CADUniversity of InnsbruckInnsbruckAustria
  2. 2.Institut de Recherche en Communications et Cybernétique de NantesNantesFrance

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