Nonsingular change of assembly mode without any cusp
Résumé
This paper shows for the first time a parallel manipulator that can execute nonsingular changes of assembly modes while its joint space is free of cusp points and cuspidal edges. The manipulator at hand has two degrees of freedom and is derived from a 3-RPR manipulator; the shape of its joint space is a thickening of a figure-eight curve. A few explanations concerning the relationship between cusps and alpha curves are given.
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