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| HAL : hal-00322720, version 1 |
| arXiv : 0809.3180 |
| Fiche détaillée |  Récupérer au format |
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| 11th International Symposium on Advances in Robot Kinematics, France (2008) |
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| Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra |
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| Daniel Kanaan 1Philippe Wenger 1 |
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| (23/06/2008) |
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| This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Plücker vector of lines (finite and infinite) constituting the rows of the inverse Jacobian matrix are formulated using Grassmann-Cayley algebra. Manipulators under consideration do not need to have a passive spherical joint somewhere in each leg. This study is illustrated with three example robots |
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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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| Parallel manipulator – Singularity – Grassmann–Cayley algebra – Screw theory |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00322720, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00322720 | |
| oai:hal.archives-ouvertes.fr:hal-00322720 | |
| Contributeur : Damien Chablat | |
| Soumis le : Jeudi 18 Septembre 2008, 14:54:13 | |
| Dernière modification le : Jeudi 18 Septembre 2008, 17:14:26 | |
