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| HAL : hal-00145086, version 1 |
| Fiche détaillée |  Récupérer au format |
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| La Plagne : France (1999) |
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| La parcourabilité pour les manipulateurs pleinement parallèles |
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| Damien Chablat 1Philippe Wenger 1 |
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| (1999) |
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| The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions. The manipulators considered in this study may have multiple direct and inverse kinematic solutions. The N-connected regions are characterized by projection, onto the Cartesian workspace, of the connected components of the reachable configuration space defined in the Cartesian product of the Cartesian space by the joint space. Generalized octree models are used for the construction of all spaces. This study is illustrated with a simple planar fully-parallel manipulator. |
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| 1 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
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CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
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| Méthode de conception en mécanique |
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| Domaine | : | Informatique/Robotique |
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| Parallel mechanism – aspect – singularity – workspace – working mode – assembly mode |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00145086, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00145086 | |
| oai:hal.archives-ouvertes.fr:hal-00145086 | |
| Contributeur : Damien Chablat | |
| Soumis le : Mercredi 9 Mai 2007, 14:17:45 | |
| Dernière modification le : Vendredi 11 Mai 2007, 17:32:45 | |
