Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles

Damien Chablat (1) , Philippe Wenger (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes to separate the solutions from the opposite geometrical model. Then, we define, for each working mode, the aspects of these manipulators. To separate the solutions from the direct kinematics model, we introduce the concept of characteristic surfaces. Then, we define the uniqueness domains, as being the greatest domains of the workspace in which there is unicity of solutions. The principal applications of this work are the design, the trajectory planning.

Mots clés: Parallel mechanism; singularity; asect; working mode; assembly mode; uniqueness domain

Domaines: Robotique [cs.RO]

Damien Chablat, Philippe Wenger. Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles. Mechanism and Machine Theory, 2001, 36 (6), pp.763-783. ⟨hal-00145142⟩