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| HAL : hal-00168501, version 1 |
| arXiv : 0708.3811 |
| DOI : 10.1016/j.mechmachtheory.2006.03.013 |
| Fiche détaillée |  Récupérer au format |
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| Journal of Mechanism and Machine Theory 41, 8 (2006) 971-986 |
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| An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications |
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| Mazen Zein 1Philippe Wenger 1 |
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| (08/2006) |
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| This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. 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 manipulators are classified into different types with similar kinematic properties. Each type is evaluated according to interesting kinematic properties such as, whether the workspace is fully reachable with four inverse kinematic solutions or not, the existence of voids, and the feasibility of continuous trajectories in the workspace. It is found that several orthogonal manipulators have a "well-connected" workspace, that is, their workspace is fully accessible with four inverse kinematic solutions and any continuous trajectory is feasible. This result is of interest for the design of alternative manipulator geometries. |
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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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| Workspace – classification – design parameter – node – void – feasible trajectory – cuspidal |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00168501, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00168501 | |
| oai:hal.archives-ouvertes.fr:hal-00168501 | |
| Contributeur : Damien Chablat | |
| Soumis le : Mardi 28 Août 2007, 17:47:58 | |
| Dernière modification le : Mardi 28 Août 2007, 17:51:57 | |
