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Cusp points in the parameter space of degenerate 3-RPR planar parallel manipulators

Autor
Manubens, M.; Moroz, G.; Chablat, D.; Wenger, P.; Rouillier, F.
Tipus d'activitat
Article en revista
Revista
Journal of mechanisms and robotics
Data de publicació
2012
Volum
4
Número
4
Pàgina inicial
1
Pàgina final
8
DOI
https://doi.org/10.1115/1.4006921 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/17499 Obrir en finestra nova
URL
http://dx.doi.org/10.1115/1.4006921 Obrir en finestra nova
Resum
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which increases the maximum singularity-free workspace. An accurate algorithm for the determination is proposed amending some imprecisions done by previous existing algorithms. This is combined with methods of Cylindric Algebraic Decomposition, Gröbner bases and Discrimina...
Citació
Manubens, M. [et al.]. Cusp points in the parameter space of degenerate 3-RPR planar parallel manipulators. "Journal of mechanisms and robotics", 2012, vol. 4, núm. 4, p. 1-8.
Paraules clau
Cusp, Cylindric algebraic decomposition, Degenerate 3-RPR, Discriminant variety, Kinematics, Parallel manipulator, Singularities, Symbolic computation
Grup de recerca
DCG - Discrete and Combinatorial Geometry

Participants

  • Manubens Ferriol, Montserrat  (autor)
  • Moroz, Guillaume  (autor)
  • Chablat, Damien  (autor)
  • Wenger, Philippe  (autor)
  • Rouillier, Fabrice  (autor)