Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators
نویسندگان
چکیده
In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes is introduced. Numerical examples are given in order to illustrate graphically the results. This study is of high interest for planning trajectories in the joint space of 3-RPR parallel manipulators and for manipulators design as it may constitute a tool for choosing appropriate joint limits and thus for sizing the link lengths of the manipulator.
منابع مشابه
Definition sets for the Direct Kinematics of Parallel Manipulators
The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus...
متن کاملUniqueness Domains in the Workspace of Parallel Manipulators
This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The study focuses on the most usual case ...
متن کاملA study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes
— Dans une section de l'espace articulaire des ma-nipulateurs parallèles, les points cusps et noeuds ont un rôle essentiel dans le changement de mode d'assemblage. Ce travail présente une étude détaillée de ces points dans l'espace articu-laire et de travail. On démontre qu'un point cusp (resp. un noeud) définit un point de tangence (resp. un point d'intersec-tion), dans l'espace de travail, en...
متن کاملCusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators
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 algori...
متن کاملMachine Theory Increase of singularity-free zones in the workspace of parallel manipulators using mechanisms of variable structure
This paper is focused on the study of singularity of planar parallel manipulators taking into account the force transmission, i.e. study of singularity of planar manipulator by introducing the force transmission factor. Thus the singularity zones in the workspace of the manipulator are defined not only by kinematic criterions from the theoretical perfect model of the manipulator but also by the...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- CoRR
دوره abs/0705.1409 شماره
صفحات -
تاریخ انتشار 2007