Workspace and joint space analysis of the 3-RPS parallel robot

Abstract : The Accurate calculation of the workspace and joint space for 3 RPS parallel robotic manipulator is a highly addressed research work across the world. Researchers have proposed a variety of methods to calculate these parameters. In the present context a cylindrical algebraic decomposition based method is proposed to model the workspace and joint space. It is a well know feature that this robot admits two operation modes. We are able to find out the set in the joint space with a constant number of solutions for the direct kinematic problem and the locus of the cusp points for the both operation mode. The characteristic surfaces are also computed to define the uniqueness domains in the workspace. A simple 3-RPS parallel with similar base and mobile platform is used to illustrate this method.
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Communication dans un congrès
ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2014, Buffalo, United States. Volume 5A, pp.1-10, 2014
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Contributeur : Damien Chablat <>
Soumis le : lundi 16 juin 2014 - 22:10:03
Dernière modification le : mardi 10 octobre 2017 - 13:46:14
Document(s) archivé(s) le : mardi 16 septembre 2014 - 11:20:12

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Damien Chablat, Ranjan Jha, Fabrice Rouillier, Guillaume Moroz. Workspace and joint space analysis of the 3-RPS parallel robot. ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2014, Buffalo, United States. Volume 5A, pp.1-10, 2014. 〈hal-01006614〉

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