A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace

Maher Baili (1) , Philippe Wenger (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) positining 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. 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 divided into nine domains of distinct workspace topologies, in which all manipulators have similar global kinematic properties. 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]

Maher Baili, Philippe Wenger, Damien Chablat. A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace. ICRA, Apr 2004, Barcelona, Spain. pp.1-6. ⟨hal-00163907⟩