Algebraic Analysis of a 3-RUU Parallel Manipulator

Abstract : Constraint equations of a parallel manipulator can be used to analyze their kinematic behaviour. This paper deals with the determination of the algebraic constraint equations of a 3-RUU parallel manipulator with two approaches. The first one is based on the manipulator geometry and the second one uses the Linear Implicitization Algorithm. The obtained constraint equations through the former approach can be given a geometrical interpretation while the latter approach is less prone to missing physical constraints. Both the ideals of constraint polynomials should lead to the same variety. Furthermore, the simplest set of equations is chosen to solve the direct kinematics problem. For the manipulator under study, it turns out that its direct kinematics problem leads to a factorisable univariate polynomial and a translational operation mode appears.
Type de document :
Communication dans un congrès
The 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy
Liste complète des métadonnées

Littérature citée [12 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-01757514
Contributeur : Stéphane Caro <>
Soumis le : mardi 3 avril 2018 - 16:48:49
Dernière modification le : jeudi 19 avril 2018 - 11:46:06

Fichier

3RUUanalysis_final.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01757514, version 1

Collections

Citation

Thomas Stigger, Abhilash Nayak, Stéphane Caro, Philippe Wenger, Martin Pfurner, et al.. Algebraic Analysis of a 3-RUU Parallel Manipulator. The 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy. 〈hal-01757514〉

Partager

Métriques

Consultations de la notice

44

Téléchargements de fichiers

8