Today I read a paper titled “Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators”
The abstract is:
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 is introduced.
Numerical examples are given in order to illustrate graphically the results.
This study is of high interest for planning trajectories in the joint space of 3-RPR parallel manipulators and for manipulators design as it may constitute a tool for choosing appropriate joint limits and thus for sizing the link lengths of the manipulator.