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Article Dans Une Revue Journal IFToMM Problems of Applied Mechanics Année : 2006

Robustness Study of Generic and Non-Generic 3R Positioning Manipulators

Résumé

This paper presents a robustness study of 3R manipulators and aims at answering the following question: are generic manipulators more robust than their non-generic counterparts? We exploit several properties specific to 3R manipulators such as singularities, cuspidality, homotopy classes, and path feasibility, in order to find some correlations between genericity and robustness concepts. It turns out that the farther a manipulator is from non-generic ones, the more robust it is with respect to homotopy class and number of cusps. Besides, we state that the proximity of a manipulator to non-generic frontiers may severely affect its robustness with respect to path-feasibility. Finally, we notice that the dexterity and the accuracy of 3R manipulators do not depend on genericity.
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Dates et versions

hal-00463711 , version 1 (14-03-2010)

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  • HAL Id : hal-00463711 , version 1

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Stéphane Caro, Philippe Wenger, Fouad Bennis. Robustness Study of Generic and Non-Generic 3R Positioning Manipulators. Journal IFToMM Problems of Applied Mechanics, 2006, 22 (1), pp.9-23. ⟨hal-00463711⟩
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