Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot

Abstract : Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a cusp point in the joint space. In this paper, the aspects and the characteristic surfaces are computed for each operation mode to define the uniqueness of the domains. Thus, we can easily see in the workspace that at least three assembly modes can be reached for each operation mode. To validate this property, the mathematical analysis of the determinant of the Jacobian is done. The image of these trajectories in the joint space is depicted with the curves associated with the cusp points.
Type de document :
Communication dans un congrès
14th International Symposium on Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.149 - 159, 2014
Liste complète des métadonnées


https://hal.archives-ouvertes.fr/hal-00956325
Contributeur : Damien Chablat <>
Soumis le : jeudi 6 mars 2014 - 14:35:03
Dernière modification le : mardi 30 mai 2017 - 01:17:24
Document(s) archivé(s) le : vendredi 6 juin 2014 - 10:50:35

Fichiers

Chablat_2014.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-00956325, version 1
  • ARXIV : 1403.1455

Collections

Citation

Damien Chablat, Ranjan Jha, Fabrice Rouillier, Guillaume Moroz. Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot. 14th International Symposium on Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.149 - 159, 2014. <hal-00956325>

Partager

Métriques

Consultations de
la notice

1103

Téléchargements du document

385