Derivation of a polynomial equation for the boundaries of 2-X manipulators

Matthieu Furet (1, 2, 3) , Philippe Wenger (2, 4)

1 ECN - École Centrale de Nantes
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
4 LS2N - équipe ReV - Robotique Et Vivant

This paper derives the boundary equations of the workspace of a manipulator made of two crossed four-bar mechanisms in series. The boundaries are determined with the discriminant of the characteristic polynomial derived for the inverse kinematics.

Mots clés: anti-parallelogram; crossed four-bar mechanism; Kinematics; Workspace; Cuspidal

Domaines: Automatique / Robotique; Génie mécanique [physics.class-ph]

Matthieu Furet, Philippe Wenger. Derivation of a polynomial equation for the boundaries of 2-X manipulators. 2018. ⟨hal-01905469⟩