Singularity analysis and reconfiguration mode of the 3-CRS parallel manipulator
Chedli Bouzgarrou,Adrien Koessler,Nicolas Bouton,Chedli Bouzgarrou,Adrien Koessler,Nicolas Bouton
The 3-CRS manipulator is an original parallel mechanism having 6 degrees of freedom (DOFs) with only 3 limbs. This mechanism uses a motorized cylindrical joint per limb. This new paradigm of actuation opens research fields on new families of robots that should particularly interest the parallel robotics community. According to its dimensional synthesis, this mechanism can have remarkable kinematic...
