Assembly Mode Change of Spherical 3-RPR Parallel Manipulator

REFERENCES

• Angeles , J. ( 1997 ). Fundamentals of Robotic Mechanical Systems. Theory, Methods and Algorithms . New York : Springer .
   Google Scholar
• Bai , S. , Hansen , M. R. , Andersen , T. O. ( 2010 ). Modelling of a special class of spherical parallel manipulators with Euler parameters . Robotica 27 ( 2 ): 161 – 170 .
   Web of Science ®Google Scholar
• Bamberger , H. , Wolf , A. , Shoham , M. ( 2008 ). Assembly mode changing in parallel mechanisms . IEEE Transactions on Robotics 24 ( 4 ): 765 – 772 .
   Web of Science ®Google Scholar
• Blaschke , W. ( 1960 ). Kinematik und Quaternionen . Hannover : Wolfenbüttler Verlagsanstalt .
   Google Scholar
• Bonev , I. A. , Gosselin , C. M. ( 2005 ). Singularity loci of spherical parallel mechanisms. Proceedings of the 2005 IEEE, International Conference on Robotics and Automation, Barcelona, Spain .
   Google Scholar
• Bonev , I. A. , Gosselin , C. M. ( 2006 ). Analytical determination of the workspace of symmetrical spherical parallel mechanisms . IEEE Transactions on Robotics 22 ( 5 ): 1011 – 1017 .
   Web of Science ®Google Scholar
• Bonev , I. A. , Ryu , J. ( 1999 ). Orientation workspace analysis of 6-DOF parallel manipulators. Proceedings of the ASME 1999 Design Engineering Technical Conferences, Las Vegas, NV .
   Google Scholar
• Bottema , O. , Roth , B. ( 1979 ). Theoretical Kinematics . Amsterdam : North-Holland Publishing Company .
   Google Scholar
• Bulca , F. , Husty , M. L. ( 1995 ). Kinematic mapping of spherical three-legged platforms. Proceedings of the 15th Canadian Congress of Applied Mechanics (CANCAM), Victoria, BC, Canada, pp. 874–875 .
   Google Scholar
• Castelli , G. , Ottaviano , E. , Ceccarelli , M. ( 2008 ). A fairly general algorithm to evaluate workspace characteristics of serial and parallel manipulators . Mechanics Based Design of Structures and Machines: An International Journal 36 ( 1 ): 14 – 33 .
   Web of Science ®Google Scholar
• Cox , D , Little , J. , O'Shea , D. ( 2007 ). Ideals, Varieties and Algorithms: An Introduction to Computational Algebraic Geometry and Commutative Algebra (Undergraduate Texts in Mathematics) . New York : Springer-Verlag .
   Google Scholar
• Husty , M. L. ( 2009 ). Non-singular assembly mode change in 3-RPR-parallel manipulators. In: Keckskeméthy, A., Müller, A., eds. Proceedings of the 5th International Workshop on Computational Kinematics, Springer, pp. 51–60 .
   Google Scholar
• Husty , M. L. , Gosselin , C. ( 2008 ). On the singularity surface of planar 3-RPR parallel mechanisms . Mechanics Based Design of Structures and Machines: An International Journal 36 ( 4 ): 411 – 425 .
   Web of Science ®Google Scholar
• Husty , M. L. , Pfurner , M. , Schröcker , H.-P. , Brunnthaler , K. ( 2007 ). Algebraic methods in mechanism analysis and synthesis . Robotica 25 ( 6 ): 661 – 675 .
   Web of Science ®Google Scholar
• Innocenti , C. , Parenti-Castelli , V. ( 1998 ). Singularity free evolution from one configuration to another in serial and fully-parallel manipulators . Journal of Mechanical Design 120 ( 1 ): 73 – 79 .
   Web of Science ®Google Scholar
• Jazar , R. N. ( 2010 ). Theory of Applied Robotics: Kinematics, Dynamics and Control. , 2nd ed. New York : Springer .
   Google Scholar
• McAree , P. , Daniel , R. (1999). An explanation of never-special assembly changing motions for 3-3 parallel manipulators. The International Journal of Robotics Research 18(6):556–575.
   Web of Science ®Google Scholar
• Schröcker , H.-P. , Husty , M. L. , McCarthy , J. M. ( 2007 ). Kinematic mapping based assembly mode evaluation of planar four-bar mechanisms . Journal of Mechanical Design 129 ( 9 ): 924 – 929 .
   Web of Science ®Google Scholar
• Study , E. ( 1903 ). Geometrie der Dynamen . Leipzig : B.G. Teubner .
   Google Scholar
• Tsai , L.-W. ( 1999 ). Robot Analysis: The Mechanics of Serial and Parallel Manipulators . New York : John Wiley & Sons, Inc .
   Google Scholar
• Urízar , M. , Petuya , V. , Altuzarra , O. , Hernández , A. ( 2010 ). Researching into non-singular transitions in the joint space. In Lenarcic, J., Stanisic, M., eds. Advances in Robot Kinematics: Motion in Man and Machine. Springer, pp. 45–52 .
   Google Scholar
• Zein , M. , Wenger , P. , Chablat , D. ( 2008 ). Non-singular assembly mode changing motions for 3-RPR parallel manipulators . Mechanism and Machine Theory 43 ( 4 ): 480 – 490 .
   Web of Science ®Google Scholar
• #Communicated by M. Ceccarelli and V. Mata
   Google Scholar