Asymptotic singularities of planar parallel 3-RPR manipulators

We study the limits of singularities of planar parallel 3-RPR manipulators as the lengths of their legs tend to infinity, paying special attention to the presence of cusps. These asymptotic singularities govern the kinematic behavior of the manipulator in a rather large portion of its workspace.

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Field	Value
Source	Latest Advances in Robot Kinematics
Author	Coste, Michel
Maintainer	CCSD
Last Updated	May 27, 2026, 03:17 (UTC)
Created	May 27, 2026, 03:17 (UTC)
Identifier	ISBN: 978-94-007-4619-0
Language	en
Rights	https://about.hal.science/hal-authorisation-v1/
contributor	Institut de Recherche Mathématique de Rennes (IRMAR) ; Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes) ; Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-École normale supérieure - Rennes (ENS Rennes)-Université de Rennes 2 (UR2)-Centre National de la Recherche Scientifique (CNRS)-INSTITUT AGRO Agrocampus Ouest ; Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)-Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)
creator	Coste, Michel
date	2012-05-27T00:00:00
harvest_object_id	10486d29-3dd8-4dfe-a04c-d79ef0ad4d36
harvest_source_id	3374d638-d20b-4672-ba96-a23232d55657
harvest_source_title	test moissonnage SELUNE
metadata_modified	2025-04-01T00:00:00
relation	info:eu-repo/semantics/altIdentifier/doi/10.1007/978-94-007-4620-6
set_spec	type:COUV