Singular curves and cusp points in the joint space of 3-RPR parallel manipulators
Singular curves and cusp points in the joint space of 3-RPR parallel manipulators
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 may appear on these curves. Cusp points play an important role in the kinematic behavior of parallel manipulators since …