InforLorV4, Main, Exploration, bibRecord, 001C89

Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators

Identifieur interne : 001C89 ( Main/Exploration ); précédent : 001C88; suivant : 001C90

Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators

Auteurs : Montserrat Manubens [Espagne] ; Guillaume Moroz [France] ; Damien Chablat [France] ; Philippe Wenger [France] ; Fabrice Rouillier [France]

Source :

Journal of Mechanisms and Robotics [ 1942-4302 ] ; 2012.

RBID : Hal:hal-00690975

Abstract

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 Discriminant Varieties in order to partition the parameter space into cells with constant number of cusp points. These algorithms will allow us to classify a family of degenerate 3-RPR manipulators.

Url:

https://hal.archives-ouvertes.fr/hal-00690975

Affiliations:

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

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Le document en format XML

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<series><title level="j">Journal of Mechanisms and Robotics</title>
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<profileDesc><textClass><keywords scheme="mix" xml:lang="it"><term>cusp</term>
<term>cylindric algebraic decomposition</term>
<term>degenerate 3-RPR</term>
<term>discriminant variety</term>
<term>kinematics</term>
<term>parallel manipulator</term>
<term>singularities</term>
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<front><div type="abstract" xml:lang="en">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 Discriminant Varieties in order to partition the parameter space into cells with constant number of cusp points. These algorithms will allow us to classify a family of degenerate 3-RPR manipulators.</div>
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Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators

Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators

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