[PDF] Top 20 Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators

... another, the manipulator should cross a singularity 7 ...base and mobile platforms 9,10 . In fact, an analogous phenomenon exists in serial manipulators that can change their posture ... Voir le document complet

... Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators M AZEN Z EIN † P HILIPPE W ENGER † D AMIEN C HABLAT † Abstract - This ... Voir le document complet

... investigates the singular curves in two- dimensional slices of the joint space of a family of planar parallel ...special points, ... Voir le document complet

... singularity curves (cusps) The second-order singularities play an important role in non-singular assembly- mode changing motions: such motions are possible only if the ... Voir le document complet

... manipulators may have up to six assembly modes and their direct kinematics can be written in a polynomial of degree six [1, ...another, the manipulator should cross a singularity ... Voir le document complet

... Key-words: parallel manipulator/ assembling mode/ characteristic surfaces/ singularity/ ...Most parallel manipulators have singularities that limit the motion of the moving ... Voir le document complet

... y) of the moving platform is first established, which makes it possible to write x and y as function of the sine and cosine of the orientation angle ϕ of ... Voir le document complet

... 5 and 6 show several slices of the joint space for OM 1 and OM 2 , where the DKP admits four and eight real solu- tions in the blue and red ... Voir le document complet

... 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. ... Voir le document complet

... Singular surfaces and cusps in symmetric planar 3-RPR manipulators Michel Coste, Philippe Wenger and Damien Chablat Abstract— We study in this paper a class ... Voir le document complet

... on the unknowns X = [X 1 , . . . , X n ] and on the parameters U = [U 1 , ...ways of solving parametric systems in general. Here we focus on the use of Discriminant ... Voir le document complet

... satisfies the property that over each connected com- ponent the given system has a constant number of ...solutions. The complement of this DV will be partitioned into cells by a ... Voir le document complet

... P 3 . 5. Conclusions A global explanatory approach was proposed in this paper to help better understand non-singular assembly-mode changing motions for 3-RPR planar parallel ... Voir le document complet

... characterize the coordinates and to define the design parameters of one RPS ...Then, the constraint equation of this RPS leg is formulated by means of the Euler ... Voir le document complet

... simple and low-cost measuring system composed of standard comparator indicators attached to the universal magnetic ...measuring the deviation of the relevant leg location while ... Voir le document complet

... on the pressure angle but also the position of the instantaneous centre of rotation of the platform when one of the leg is ...To the best of ... Voir le document complet

... and the elliptic curve (hence of genus 1) given by x 3 +y 3 +z 3 = ...using Singular, which shows that I = J f , where I is the saturation of the ... Voir le document complet

... with the joint space and workspace analysis of a two degree of freedom spherical parallel mechanism designed to be used to handle an ...composed of the three ... Voir le document complet

... sign of 3-SPR PM is detailed and the design of the 3-RPS PM is ...recalled. The second section describes the derivation of the constraint ... Voir le document complet

... governing the behavior of parallel manipulators at the singular ...zones. In our previous work [1], the dynamic properties of parallel ... Voir le document complet