Project for the international collaboration between the French CNRS and the Russian Academy of Sciences:

Optimal Design and Motion Planning for Parallel Robots in the Neighbourhood of Singularities

Project type:

Co-funded by the French CNRS and the Armenian SCS


7,740 Euros

Project ID:



Jan. 1, 2012 - Dec. 31, 2013


IRCCyN and Mechanical Engineering Research Institute of the Russian Academy of sciences

Objectives of the project

Even if parallel robots exhibit exceptional performances in terms of rapidity and stiffness, they are much more complicated that their serial counterparts. This complexity is mainly linked to the apparition of numerous singular configurations in their workspace. The phenomena appearing near singular configurations, especially in terms of effort transmission, are not yet well understood, even if this understanding is crucial for the design step as well as for the control step of parallel robots.

For these reasons we are proposing to focus on these research fields in order to increase the knowledge about parallel robots and then transferring the acquired know-how to engineers designing parallel robots.