Singular surfaces and cusps in symmetric planar 3-RPR manipulators - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2011

Singular surfaces and cusps in symmetric planar 3-RPR manipulators

Résumé

We study in this paper a class of 3-RPR manipulators for which the direct kinematic problem (DKP) is split into a cubic problem followed by a quadratic one. These manipulators are geometrically characterized by the fact that the moving triangle is the image of the base triangle by an indirect isometry. We introduce a specific coordinate system adapted to this geometric feature and which is also well adapted to the splitting of the DKP. This allows us to obtain easily precise descriptions of the singularities and of the cusp edges. These latter second order singularities are important for nonsingular assembly mode changing. We show how to sort assembly modes and use this sorting for motion planning in the joint space.
Fichier principal
Vignette du fichier
IROS_Siropa_3.pdf (218.35 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00610313 , version 1 (21-07-2011)

Identifiants

Citer

Michel Coste, Philippe Wenger, Damien Chablat. Singular surfaces and cusps in symmetric planar 3-RPR manipulators. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Franisco, United States. pp.1453-1458, ⟨10.1109/IROS.2011.6094724⟩. ⟨hal-00610313⟩
288 Consultations
112 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More