Higher-Order Flexible Configurations of Planar Parallel Manipulators Constructed by Averaging
Fuente:
arXiv
Guardado en:
| Autores principales: | , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2026
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866910188585353216 |
|---|---|
| author | Zhao, Yudi Nawratil, Georg |
| author_facet | Zhao, Yudi Nawratil, Georg |
| contents | This paper investigates singular configurations of planar 3-RPR parallel manipulators, which result from applying the averaging technique to solution pairs of their direct kinematic problem. Without computing the zeros of the corresponding degree 6 polynomial we parametrize the input pairs and determine their relative orientation in a way that the flexion order of the averaged configurations increases. Moreover, the obtained results are visualized for concrete examples. The presented methodology can also be used for studying the spherical and spatial analogues of planar 3-RPR parallel manipulators. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_02434 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Higher-Order Flexible Configurations of Planar Parallel Manipulators Constructed by Averaging Zhao, Yudi Nawratil, Georg Robotics Algebraic Geometry 70B15 This paper investigates singular configurations of planar 3-RPR parallel manipulators, which result from applying the averaging technique to solution pairs of their direct kinematic problem. Without computing the zeros of the corresponding degree 6 polynomial we parametrize the input pairs and determine their relative orientation in a way that the flexion order of the averaged configurations increases. Moreover, the obtained results are visualized for concrete examples. The presented methodology can also be used for studying the spherical and spatial analogues of planar 3-RPR parallel manipulators. |
| title | Higher-Order Flexible Configurations of Planar Parallel Manipulators Constructed by Averaging |
| topic | Robotics Algebraic Geometry 70B15 |
| url | https://arxiv.org/abs/2605.02434 |