A pr 2 01 2 Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators

@inproceedings{Manubens2012AP2,
  title={A pr 2 01 2 Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators},
  author={Montserrat Manubens},
  year={2012}
}
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which increases the maximum singularity-free workspace. An accurate algorithm for the determination is proposed amending some… CONTINUE READING