InforLorV4, Main, Exploration, bibRecord, 000A81

Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot

Identifieur interne : 000A81 ( Main/Exploration ); précédent : 000A80; suivant : 000A82

Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot

Auteurs : Damien Chablat [France] ; Ranjan Jha [France] ; Fabrice Rouillier [France] ; Guillaume Moroz [France]

Source :

RBID : Hal:hal-00956325

English descriptors

mix :
- 3-RPS, Aspect, Cylindrical algebraic decomposition, Operation mode, Parallel robot, Singularity.

Abstract

Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a cusp point in the joint space. In this paper, the aspects and the characteristic surfaces are computed for each operation mode to define the uniqueness of the domains. Thus, we can easily see in the workspace that at least three assembly modes can be reached for each operation mode. To validate this property, the mathematical analysis of the determinant of the Jacobian is done. The image of these trajectories in the joint space is depicted with the curves associated with the cusp points.

Url:

https://hal.archives-ouvertes.fr/hal-00956325

Affiliations:

Links toward previous steps (curation, corpus...)

to stream Hal, to step Corpus: 003609
to stream Hal, to step Curation: 003609
to stream Hal, to step Checkpoint: 000A19
to stream Main, to step Merge: 000A83
to stream Main, to step Curation: 000A81

Le document en format XML

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<profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>3-RPS</term>
<term>Aspect</term>
<term>Cylindrical algebraic decomposition</term>
<term>Operation mode</term>
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<term>Singularity</term>
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<front><div type="abstract" xml:lang="en">Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a cusp point in the joint space. In this paper, the aspects and the characteristic surfaces are computed for each operation mode to define the uniqueness of the domains. Thus, we can easily see in the workspace that at least three assembly modes can be reached for each operation mode. To validate this property, the mathematical analysis of the determinant of the Jacobian is done. The image of these trajectories in the joint space is depicted with the curves associated with the cusp points.</div>
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<tree><country name="France"><noRegion><name sortKey="Chablat, Damien" sort="Chablat, Damien" uniqKey="Chablat D" first="Damien" last="Chablat">Damien Chablat</name>
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<name sortKey="Jha, Ranjan" sort="Jha, Ranjan" uniqKey="Jha R" first="Ranjan" last="Jha">Ranjan Jha</name>
<name sortKey="Moroz, Guillaume" sort="Moroz, Guillaume" uniqKey="Moroz G" first="Guillaume" last="Moroz">Guillaume Moroz</name>
<name sortKey="Rouillier, Fabrice" sort="Rouillier, Fabrice" uniqKey="Rouillier F" first="Fabrice" last="Rouillier">Fabrice Rouillier</name>
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Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot

Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot

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