 |
|
|
|
| HAL : hal-00412923, version 1 |
| arXiv : 0909.0442 |
| Fiche détaillée |  Récupérer au format |
|
|
| International Workshop on Computational Kinematics, Duisburg : Germany (2009) |
|
|
|
|
| Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators |
|
|
Philippe Wenger 1Damien Chablat 1 |
|
|
| (05/05/2009) |
|
|
|
| A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the plane. The forward kinematics is reduced to the solution of a 3rd-degree polynomial and a quadratic equation in sequence. The singularities are calculated and plotted in the joint space. The second-order singularities (cups points), which play an important role in non-singular change of assembly-mode motions, are also analyzed. |
|
|
|
|
|
|
|
|
|
|
|
| 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 |
|
|
|
|
|
|
|
|
|
| Domaine | : | Informatique/Robotique |
|
|
| Forward kinematics – Singularity – Planar 3-RPR parallel manipulator – Analytic manipulator – Cusp point. |
|
|
|
| Liste des fichiers attachés à ce document : | |||||
|
|||||
|
|
|
| hal-00412923, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00412923 | |
| oai:hal.archives-ouvertes.fr:hal-00412923 | |
| Contributeur : Damien Chablat | |
| Soumis le : Mercredi 2 Septembre 2009, 16:35:15 | |
| Dernière modification le : Mercredi 2 Septembre 2009, 16:37:09 | |
