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Parallel robots admit generally several solutions to the direct kinematicsproblem. The aspects are associated with the maximal singularity free domainswithout any singular configurations. Inside these regions, some trajectoriesare possible between two solutions of the direct kinematic problem withoutmeeting any type of singularity: non-singular assembly mode trajectories. Anestablished condition for such trajectories is to have cusp points inside thejoint space that must be encircled. This paper presents an approach based onthe notion of uniqueness domains to explain this behaviour.

Uniqueness domains and non singular assembly mode changing trajectories