1. Singular curves in the joint space and cusp points of 3-R<u>P</u>R parallel manipulators
- Author
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Damien Chablat, Philippe Wenger, Mazen Zein, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
- Subjects
FOS: Computer and information sciences ,0209 industrial biotechnology ,Computer science ,General Mathematics ,cusp points ,Parallel mechanism ,02 engineering and technology ,Kinematics ,Space (mathematics) ,law.invention ,Computer Science::Robotics ,Computer Science - Robotics ,020901 industrial engineering & automation ,0203 mechanical engineering ,law ,[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] ,Joint (geology) ,Cusp (singularity) ,Mathematical analysis ,Mode (statistics) ,singularity ,Computer Science Applications ,020303 mechanical engineering & transports ,Invertible matrix ,Control and Systems Engineering ,Robotics (cs.RO) ,Software - Abstract
SUMMARYThis paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points play an important role in the kinematic behavior of parallel manipulators since they make possible a nonsingular change of assembly mode. The purpose of this study is twofold. First, it exposes a method to compute joint space singular curves of 3-RPR planar parallel manipulators. Second, it presents an algorithm for detecting and computing all cusp points in the joint space of these same manipulators.
- Published
- 2007
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