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Communication Dans Un Congrès Année : 2007

Singularity Analysis of PAMINSA Manipulators

Résumé

PAMINSA (PArallel Manipulator of the I.N.S.A.) is a new family of parallel manipulators from four to six degrees of freedom (DOF), which have been developed at the I.N.S.A. in Rennes. The particularity of these manipulators is the decoupling of displacements in the horizontal plane from its translation along the vertical axis. Such a decoupling improves some mechanical properties of the manipulator making it more efficient. In this paper a singularity analysis of PAMINSA with four, five and six degrees of freedom is presented. The nature of each kind of singularity is discussed.
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Dates et versions

hal-00451935 , version 1 (25-06-2019)

Identifiants

  • HAL Id : hal-00451935 , version 1

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Sébastien Briot, Vigen Arakelian. Singularity Analysis of PAMINSA Manipulators. 12th IFToMM World Congress, Jun 2007, Besançon, France. ⟨hal-00451935⟩
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