 |
|
|
|
| HAL : hal-00184991, version 1 |
| arXiv : 0711.0574 |
| DOI : 10.1017/S0263574707003785 |
| Fiche détaillée |  Récupérer au format |
|
|
| Robotica 25, 6 (2007) 717-724 |
|
|
|
|
| Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators |
|
|
| Mazen Zein 1Philippe Wenger 1 |
|
|
| (11/2007) |
|
|
|
| This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points play an important role in the kinematic behavior of parallel manipulators since they make possible a nonsingular change of assembly mode. The purpose of this study is twofold. First, it exposes a method to compute joint space singular curves of 3-RPR planar parallel manipulators. Second, it presents an algorithm for detecting and computing all cusp points in the joint space of these same manipulators. |
|
|
|
|
|
|
|
|
|
|
|
| 1 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
|
|
|
CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
|
|
|
|
|
|
|
|
|
| Méthode de Conception en Mécanique |
|
|
|
|
| Domaine | : | Informatique/Robotique |
|
|
| Parallel mechanism – singularity – cusp points |
|
|
|
| Liste des fichiers attachés à ce document : | |||||
|
|||||
|
|
|
| hal-00184991, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00184991 | |
| oai:hal.archives-ouvertes.fr:hal-00184991 | |
| Contributeur : Damien Chablat | |
| Soumis le : Dimanche 4 Novembre 2007, 23:13:16 | |
| Dernière modification le : Lundi 5 Novembre 2007, 09:14:17 | |
