A Workspace based Classification of 3R Orthogonal Manipulators

Philippe Wenger (1) , Maher Baili (1) , Damien Chablat (1)

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

A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves of the manipulator. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The design parameters space is shown to be partitioned into nine subspaces of distinct workspace topologies. Each separating surface is given as an explicit expression in the DH-parameters.

Mots clés: Classification; Workspace; Singularity; Cusp; node; orthogonal manipulator

Domaines: Robotique [cs.RO]

Philippe Wenger, Maher Baili, Damien Chablat. A Workspace based Classification of 3R Orthogonal Manipulators. 2004, Sestri-Levante, Italy. pp.1-10. ⟨hal-00145373⟩