Higher-Order Flexible Configurations of Planar Parallel Manipulators Constructed by Averaging
For researchers in parallel manipulator kinematics, this provides a method to analyze higher-order singularities, but the contribution is incremental as it extends existing averaging techniques to a specific manipulator type.
The paper studies singular configurations of planar 3-RPR parallel manipulators by applying an averaging technique to solution pairs of the direct kinematic problem, enabling parametrization of input pairs to increase flexion order without computing polynomial zeros. Results are visualized for concrete examples.
This paper investigates singular configurations of planar 3-RPR parallel manipulators, which result from applying the averaging technique to solution pairs of their direct kinematic problem. Without computing the zeros of the corresponding degree 6 polynomial we parametrize the input pairs and determine their relative orientation in a way that the flexion order of the averaged configurations increases. Moreover, the obtained results are visualized for concrete examples. The presented methodology can also be used for studying the spherical and spatial analogues of planar 3-RPR parallel manipulators.