Singular curves and cusp points in the joint space of 3-RPR parallel manipulators

Singular curves and cusp points in the joint space of 3-RPR parallel manipulators

This paper investigates the singular curves in two-dimensional slices of 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 m...

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Hauptverfasser: Zein, M., Wenger, P., Chablat, D.
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Sprache:eng
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Equations
Jacobian matrices
Leg
Manipulators
Robotics and automation
Writing
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Wenger, P.
Chablat, D.
description This paper investigates the singular curves in two-dimensional slices of 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 reviews an important previous work, which, to the authors' knowledge, has never been exploited yet. Second, it determines the cusp points in any two-dimensional slice of the joint space. First results show that the number of cusp points may vary from zero to eight. This work finds applications in both design and trajectory planning
doi_str_mv 10.1109/ROBOT.2006.1641804
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subjects Equations
Jacobian matrices
Leg
Manipulators
Robotics and automation
Writing
title Singular curves and cusp points in the joint space of 3-RPR parallel manipulators
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