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| HAL : hal-00145398, version 1 |
| arXiv : 0705.1409 |
| Fiche détaillée |  Récupérer au format |
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| Besançon : France (2007) |
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| Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators |
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| Mazen Zein 1Philippe Wenger 1 |
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| (18/06/2007) |
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| In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes is introduced. Numerical examples are given in order to illustrate graphically the results. This study is of high interest for planning trajectories in the joint space of 3-RPR parallel manipulators and for manipulators design as it may constitute a tool for choosing appropriate joint limits and thus for sizing the link lengths of the 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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| 3-RPR parallel manipulators – singularity – singularity-free zones – joint space – joint limits |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00145398, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00145398 | |
| oai:hal.archives-ouvertes.fr:hal-00145398 | |
| Contributeur : Damien Chablat | |
| Soumis le : Jeudi 10 Mai 2007, 10:24:08 | |
| Dernière modification le : Jeudi 10 Mai 2007, 10:32:19 | |
