Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators (2008)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be...
Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators (2008)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be...
Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators (2008)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be...
Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators (2007)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves....
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their...
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups...
Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators (2007)
Wenger, Philippe, Chablat, Damien, Zein, Mazen
This paper investigates two situations in which the forward kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises...
A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications (2007)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to...
Singular curves and cusp points in the joint space of 3-RPR parallel manipulators (2007)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which...
Zein, Mazen, Wenger, Philippe, Chablat, Damien
In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes...
An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators (2007)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which...
Zein, Mazen, Wenger, Philippe, Chablat, Damien
In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes...
Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators (2007)
Wenger, Philippe, Chablat, Damien, Zein, Mazen
This paper investigates two situations in which the forward kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises...
A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications (2007)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to...
Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators (2007)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves....
Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators (2007)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves....
A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications (2007)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to...
Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators (2007)
Wenger, Philippe, Chablat, Damien, Zein, Mazen
This paper investigates two situations in which the forward kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises...
Zein, Mazen, Wenger, Philippe, Chablat, Damien
In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes...
An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators (2006)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which...
Singular curves and cusp points in the joint space of 3-RPR parallel manipulators (2006)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which...
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their...
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their...
Singular curves and cusp points in the joint space of 3-RPR parallel manipulators (2006)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which...
An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators (2006)
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which...
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups...
Zein, Mazen, Wenger, Philippe, Chablat, Damien
This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups...