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| HAL : hal-00261669, version 1 |
| arXiv : 0803.1221 |
| Fiche détaillée |  Récupérer au format |
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| Mechanism and Machine Theory 23, 4 (2008) 480-490 |
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| Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators |
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| Mazen Zein 1Philippe Wenger 1 |
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| (2008) |
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| When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be simply detected, the actual assembly-mode during motion is difficult to track. This paper proposes a global explanatory approach to help better understand non-singular assembly-mode changing motions for 3-RPR planar parallel manipulators. The approach consists in fixing one of the actuated joints and analyzing the configuration-space as a surface in a 3-dimensional space. Such a global description makes it possible to display all possible non-singular assembly-mode changing trajectories. |
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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 Sciences de l'ingénieur/Mécanique/Génie mécanique Physique/Mécanique/Génie mécanique |
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| Parallel robot – singularity – cusp point – assembly modes – 3-RPR – non-singular assembly-mode changing trajectories |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00261669, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00261669 | |
| oai:hal.archives-ouvertes.fr:hal-00261669 | |
| Contributeur : Damien Chablat | |
| Soumis le : Vendredi 7 Mars 2008, 22:23:42 | |
| Dernière modification le : Samedi 8 Mars 2008, 07:54:57 | |
